Contour Control of H-type Platform Based on Complementary Sliding Mode Cross-coupling Control

Abstract

In the machining process of the H-type platform, due to the existence of synchronization error and contouring error, the contouring accuracy of the system is reduced. For the synchronization control of H-type platform, this paper adopts a complementary sliding mode controller (CSMC) to reduce the synchronization error of the dual linear motors. In order to improve the contour accuracy of H-type platform, a cross-coupling controller (CCC) based on complementary sliding mode control is proposed. The contouring error estimation adopts the circular approximation. The simulation results show that the complementary sliding mode controller can effectively reduce the synchronization error of the dual linear motors, and the cross-coupling controller can effectively improve the contour accuracy of the H-type platform.