In response to the issue of contour error accumulation in the iterative learning control system for a dual-axis linear motor platform with cross-coupling,a control strategy of modified empirical mode decom-position algorithm is proposed in this paper.Firstly,a single-axis PDFF position controller is designed to meet the high precision positioning requirements of PMLSM.Secondly,a self-adaptive PD-type cross-cou-pled iterative learning controller is designed,which possesses the characteristic of adaptive adjustment.Be-sides,in response to solve the endpoint effect and mode mixing problem for EMD algorithm,a novel im-proved algorithm based on interactive linear continuation and complementary ensemble empirical mode de-composition is proposed.This algorithm can decompose the contour errors of each iteration and eliminate the components that affect error convergence.Through simulation analysis and a comparison with the tradi-tional iterative learning control,the paper demonstrates that the proposed method exhibits faster convergence speed and can achieve high-precision contour tracking control of linear motors with fewer iterations.
关键词
双轴直线电机平台/轮廓误差/迭代学习/交互直线延拓/互补集合
Key words
dual-axis linear motor platform/contour error/iterative learning/interactive linear extrapola-tion/complementary ensemble
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