Design of a Trajectory Tracking Controller for Precision Motion Platform

Abstract

AbstractAiming at the trajectory tracking control problem of precision motion platform based on linear motor, a tracking control method based on zero phase error tracking controller (ZPETC) and disturbance observer (DOB) is proposed to improve the disturbance suppression ability and trajectory tracking performance of precision motion platform. The mathematical models of permanent magnet linear motor and motion platform are given. ZPETC is a feedforward controller, which realizes error suppression through zero pole cancellation, which can improve the response speed and tracking performance of the system and reduce the dynamic tracking error of the system. The disturbance observer can compensate the changes of system parameters, model uncertainty, external disturbance and mechanical nonlinearity, and improve the anti-interference ability of the system. The experimental results show that the method can not only ensure the tracking performance of the system, but also has strong robustness, so as to improve the trajectory tracking effect of the moving platform.KeywordsPrecision motion platformZero phase error tracking controlDisturbance observer