DSP-based cross-coupled synchronous control for dual linear motors via intelligent complementary sliding mode control

Abstract

A digital signal processor (DSP)-based cross-coupled intelligent complementary sliding mode control (ICSMC) system is proposed in this study for the synchronous control of a dual linear motors servo system. The dual linear motors servo system with two parallel permanent magnet linear synchronous motors (PMLSMs) is installed in a gantry position stage. The dynamic model of single-axis motion control system with a lumped uncertainty, which comprises parameter variations, external disturbances and nonlinear friction force, is introduced first. Then, to achieve an accurate trajectory tracking performance with robustness, a cross-coupled ICSMC is developed. In this approach, a Takagi-Sugeno-Kang type fuzzy neural network (TSKFNN) estimator with accurate approximation capability is implemented to estimate the lumped uncertainty. Moreover, since a cross-coupled technology is incorporated into the proposed intelligent control scheme for the gantry position stage, both the position tracking error and synchronous error of the dual linear motors will converge to zero simultaneously. Finally, some experimental results are illustrated to show the validity of the proposed control approach.