Variable-gain cross coupling control for direct-drive XY table based on genetic algorithm
Abstract：The contouring accuracy of XY table directly driven by two permanent mgnet linear synchronous motors is easily influenced by the dynamic nonlinearity and uncertainty of system as well as the relstively complex contour error model of curve trajectory.To weaken the above influences and achieve the high precision contour tracking control of XY table,the variable-gain cross coupling controller was designed for compensating the coupling error of X and Y axes.Genetic algorithm was used to optimize the parameters of PID controller.The parameters were avoided falling into the local optimal value by utilizing the ability of gene mutation.Consequently,the global optimal value can be found quickly and accurately,and the contour error of system can reach the required accuracy range.The theoretical analysis and simulation results show that the designed control system can effectively improve the contouring accuracy of XY table.
Keywords：permanent magnet linear synchronous motordirect driveservo controlXY tablegenetic algorithmvariable-gain cross coupling controlcontour controlcontour error
Publication Date：2011-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)