Abstract
In multi-station linear reciprocating processing systems, the positioning accuracy and the cooperative precision of the motion stations directly affect the production quality of products. This paper aims to enhance both the positioning and the coordination accuracy of the motion stations from the integrated permanent magnet synchronous linear motor (IPMSLM) stations during the reciprocating motions, especially in the presence of load disturbance. Firstly, the adaptive control strategy based on pole placement principle with online parameter identification is proposed for single IPMSLM station. The least squares identification algorithm with forgetting factor is employed to calculate the mathematic model online, so as to solve the problem that the IPMSLM stations cannot be accurately modeled with the existence of parameter perturbation and load disturbance. Secondly, in order to improve the coordination performance of the IPMSLM stations, the cooperative error equation is proposed, and a ring coupling cooperative (RCC) control strategy based on Lyapunov stability theorem is designed. The accuracy and effectiveness of this proposed collaborative control strategy is verified by experiments under no-load and spring-load conditions. Experimental results show that for the proposed adaptive and coordinate control strategy, the positioning error and the coordination error during the reciprocating motion can be guaranteed uniformly within $\pm 8~\mu \text{m}$ and $\pm 10~\mu \text{m}$ , respectively.
Highlights
With the advancement of industrial automation, linear multistation based, reciprocating and collaborative processing has been widely applied in electronic manufacture field such as the printed circuit board (PCB) drilling, welding and printing, etc. [1], [2]
In order to solve the problem of poor robustness, this paper proposes a ring coupling cooperative control strategy based on Lyapunov stability theorem
EXPERIMENT RESULTS The adaptive control with ring coupling cooperative (RCC) strategy is conducted on the MATLAB/Simulink environment and the control board of RT-LAB
Summary
With the advancement of industrial automation, linear multistation based, reciprocating and collaborative processing has been widely applied in electronic manufacture field such as the printed circuit board (PCB) drilling, welding and printing, etc. [1], [2]. With the advancement of industrial automation, linear multistation based, reciprocating and collaborative processing has been widely applied in electronic manufacture field such as the printed circuit board (PCB) drilling, welding and printing, etc. In the linear multi-station collaborative flexible manufacture/processing line, each station can be comprised of independent multiple linear permanent magnet machines (LPMM) or an integrated permanent magnet synchronous linear machine (IPMSLM), The associate editor coordinating the review of this manuscript and approving it for publication was Chao-Yang Chen. The IPMSLM stations provide linear reciprocating motions to facilitate high-precision positioning actions from the processing units to achieve collaborative actions. Since the multiple stations of the IPMSLM operate in a reciprocal manner, for continuous high-positioning operations of the processing units, the reciprocating position accuracy from each station of the IPMSLM should be guaranteed first [3], [4]. The reaction force from the units to the stations can be regarded as a variable
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