Abstract
In this study, the authors present a control method for the permanent magnet synchronous motor (PMSM) driven X–Y motion system for application in industrial and manufacturing apparatus. Backlash and friction effects in ball-screw actuated systems are common obstacles to achieve high-accuracy control. The authors investigate the indirect fuzzy controller to demonstrate the feasibility of reference trajectory tracking and derive an adaptive law in the error state space to deal with parameter uncertainties and external disturbances. The authors adjust the fuzzy parameters online, based on the Lyapunov stability theorem, such that the asymptotic stability of the whole system and error convergence can be guaranteed. In the authors’ experiments, this indirect fuzzy control approach compensated for the non-linear friction and disturbance variation of the biaxial linear stage following the application of four contour shapes, i.e. square, triangular, star, and circular reference contours. Both the authors’ simulation and experimental results demonstrate substantial improvement in contour tracking performance in terms of average tracking error and tracking error standard deviation, as well as robustness against platform uncertainties.
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