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| Sliding mode contour control of direct drive H-type platform based on double-layer cross-coupling |
| HE Yahua, WANG Limei |
| School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870 |
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Abstract Aiming at the uncertain factors such as parameter changes, external disturbances, friction and inter-axis coupling problems of the H-type platform driven by permanent magnet linear synchronous motor (PMLSM), a contour control strategy combining the global integral sliding mode control (GISMC) and variable gain double-layer cross coupling control (VGDCCC) is proposed. First, the dynamic equation of the H-type platform system and the contour error model based on the close circle are established. Then, a single-axis position tracking controller based on global integral sliding mode control is designed to reduce the tracking error. Finally, a contour error compensator based on variable gain double-layer cross-coupling is designed to reduce the contour error. The simulation results show that the proposed control method is feasible and effective.
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Received: 02 January 2021
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| Cite this article: |
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HE Yahua,WANG Limei. Sliding mode contour control of direct drive H-type platform based on double-layer cross-coupling[J]. Electrical Engineering, 2021, 22(8): 10-14.
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| URL: |
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http://dqjs.cesmedia.cn/EN/Y2021/V22/I8/10
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2021, Vol. 22 
