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Adaptive PD-SMC in position domain for contour tracking of hybrid actuated system

机译：混合驱动系统轮廓跟踪的位置域自适应PD-SMC

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摘要

A hybrid actuated system is a special mechatronic system that combines two different driving motors: an uncontrollable constant velocity (CV) motor and a controllable servo motor. It is a challenge for controlling such a hybrid actuated system to achieve high contour tracking performances. Following the position domain control principle, the CV motor is viewed as a master motion and to define the corresponding motion of the servo motor for a desired contour tracking. In this paper, the adaptive PD sliding mode control (PD-SMC) is applied in position domain to force the servo motor following the motion of the CV motor for contour tracking control. Such a control method can achieve much better contour performances, because it can obtain the dynamics of the system through adaptive law and avoid the tracking error caused by the speed fluctuation of the CV motor, guaranteed by the position domain control methodology. Simulation study results for linear and nonlinear contours with/without initial errors are presented to demonstrate the advantages of the adaptive PD-SMC in position domain.
机译：混合驱动系统是一种特殊的机电系统，它结合了两种不同的驱动马达：不可控的恒速（CV）马达和可控的伺服马达。控制这种混合致动系统以实现高轮廓跟踪性能是一个挑战。遵循位置域控制原理，CV电机被视为主运动，并为期望的轮廓跟踪定义了伺服电机的相应运动。在本文中，在位置域中应用了自适应PD滑模控制（PD-SMC），以跟随CV电机的运动迫使伺服电机进行轮廓跟踪控制。这种控制方法可以获得更好的轮廓性能，因为它可以通过自适应定律获得系统的动力学特性，并且避免了由位置域控制方法所保证的CV电机速度波动引起的跟踪误差。给出了带有或不带有初始误差的线性和非线性轮廓的仿真研究结果，以证明自适应PD-SMC在位置域中的优势。

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