Iterative Learning of Three-Axis Motion Platform Contour Control Based on Exponential Gain
In order to get the accurate estimation of the contour error of the three-axis moving platform,an exponential gain iterative learning contour control method for three-axis moving platform is proposed in this paper.In this paper,the mathematical model of the three-axis motion platform driven by permanent magnet synchronous linear motor is established,and the contour error is estimated by using Taylor extended contour error estimation method.In order to obtain accurate estimation of contour error,a PD iterative learning con-troller based on exponential gain is designed.Finally,the cross-coupling control strategy is adopted to select a proportional distribution method to compensate the contour error to the original reference contour.The simulation results show that the maximum profile error and mean square error of the exponential gain itera-tive learning for a given saddle-shaped and heart-shaped curve are smaller than those of the traditional itera-tive learning control,which proves that the proposed method can effectively reduce the system profile error and improve the profile control accuracy.
three-axis motion platformiterative learningcontour error estimationcross-coupling control
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