Precise Position Synchronous Control for Multi-Axis Servo Systems

Abstract

This paper presents a general solution of precise position synchronous control for multi-axis servo systems. The control strategy to achieve high-precision motion is summarized in two main points: an adaptive-fuzzy friction compensator is adopted in the independent control loop of each axis to compensate the nonlinear friction, and then a method which combines global sliding mode control with two adjacent axes cross-coupling technology is proposed to minimize not only single-axis position error but also synchronous errors of all motion axes. At first, the adaptive fuzzy algorithm including dynamic model of the system is utilized to design a friction compensation controller. Next, to improve robustness of the multi-axis motion system against variation of motor parameters and external disturbances, global sliding mode control is introduced. In addition, the multi-axis synchronous control based on cross-coupling technology is elaborately designed via proportional-differential control law. The performance of the proposed control system is investigated through extensive simulations based on a popular motion platform. Furthermore, experimental study shows that the results successfully demonstrate the effectiveness of the proposed position synchronous control method for a general four-axis servo system.