On multi-axis motion synchronization: The cascade control structure and integrated SMC-ADRC design

被引：18
|
作者：
Yao, Suhua [1 ,2 ]
Gao, Guoqin [1 ]
Gao, Zhiqiang [3 ]
机构：
[1] Jiangsu Univ, Sch Elect & Informat Engn, 301 Xuefu Rd, Zhenjiang 212013, Jiangsu, Peoples R China
[2] Jiangsu Marine Inst, Sch Turbine Elect & Intelligent Engn, Nanjing 211112, Peoples R China
[3] Cleveland State Univ, Dept Elect & Comp Sci, Cleveland, OH 44115 USA
来源：
ISA TRANSACTIONS | 2021年 / 109卷
基金：
中国国家自然科学基金;
关键词：
Parallel mechanism; Sliding mode control; Active disturbance rejection control; Cascade control; Synchronization; DISTURBANCE; ORDER;
D O I：
10.1016/j.isatra.2020.10.012
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the cascade control (CC), a structure popular among practitioners in many industry sectors, is used to bridge the two prominent research methodologies in SMC and ADRC for the purpose of multi-axis motion synchronization. In particular, the cascade sliding mode control(C-SMC) is first proposed, from which the cascade active disturbance rejection control (C-ADRC) is derived. This allows the linear and fal-function based nonlinear control actions to be naturally integrated and the controller parameters can be tuned easily with the proposed space-time scaling method. The control law is constructed and validated in multi-axis motion synchronization of parallel mechanisms. The results show that the proposed scheme is effective and practical, with the robustness associated with the bandwidth constraints. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：259 / 268
页数：10
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