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Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430070, China
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Academic Editor: Carlo Cattani
Entropy 2021, 23(5), 633; https://doi.org/10.3390/e23050633
Received: 13 April 2021 / Revised: 10 May 2021 / Accepted: 11 May 2021 / Published: 19 May 2021
H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method. View Full-Text
Keywords: H-type linear motor air floating motion platform; Dynamic modeling; Synchronous control; Feed-forward control; Fractional order biquad filter H-type linear motor air floating motion platform; Dynamic modeling; Synchronous control; Feed-forward control; Fractional order biquad filter
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MDPI and ACS Style

Sun, Y.; Zeng, L.; Luo, Y.; Li, X. Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform. Entropy 2021, 23, 633. https://doi.org/10.3390/e23050633

AMA Style

Sun Y, Zeng L, Luo Y, Li X. Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform. Entropy. 2021; 23(5):633. https://doi.org/10.3390/e23050633

Chicago/Turabian Style

Sun, Yixiu, Lizhan Zeng, Ying Luo, and Xiaoqing Li. 2021. "Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform" Entropy 23, no. 5: 633. https://doi.org/10.3390/e23050633

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