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Volume 7 Issue 4
Jun.  2020

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2020  >  7(4): 1116-1123
Qi Wu, Li Yu, Yao-Wei Wang and Wen-An Zhang, "LESO-based Position Synchronization Control for Networked Multi-Axis Servo Systems With Time-Varying Delay," IEEE/CAA J. Autom. Sinica, vol. 7, no. 4, pp. 1116-1123, July 2020. doi: 10.1109/JAS.2020.1003264
Citation: Qi Wu, Li Yu, Yao-Wei Wang and Wen-An Zhang, "LESO-based Position Synchronization Control for Networked Multi-Axis Servo Systems With Time-Varying Delay," IEEE/CAA J. Autom. Sinica, vol. 7, no. 4, pp. 1116-1123, July 2020. doi: 10.1109/JAS.2020.1003264
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LESO-based Position Synchronization Control for Networked Multi-Axis Servo Systems With Time-Varying Delay

doi: 10.1109/JAS.2020.1003264
Funds:  This work was supported by the National Natural Science Foundation of China (NSFC) (61822311) and the NSFC-Zhejiang Joint Fund for the Intergration of Industrialization and Informatization (U1709213)
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    Abstract
  • The position synchronization control (PSC) problem is studied for networked multi-axis servo systems (NMASSs) with time-varying delay that is smaller than one sampling period. To improve the control performance of the system, time-varying delays, modeling uncertainties, and external disturbances are first modeled as a lumped disturbance. Then, a linear extended state observer (LESO) is devised to estimate the system state and the lumped disturbance, and a linear feedback controller with disturbance compensation is designed to perform individual-axis tracking control. After that, a cross-coupled control approach is used to further improve synchronization performance. The bounded-input-bounded-output (BIBO) stability of the closed-loop control system is analyzed. Finally, both simulation and experiment are carried out to demonstrate the effectiveness of the proposed method.

     

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    Highlights

    • It is demonstrated that the proposed approach can deal with the effects of system uncertainty, external disturbance, and short time-varying for the NMASS.
    • It is rigorously proved that the closed-loop control system under the proposed controller is bounded-input-bounded-output (BIBO) stable.
    • It is verified that the proposed method has better tracking and synchronization performance than the improve PID-based method by testing on a four-axis NMASS experimental platform.
    • The bandwidth-parameterization tuning method is applied in both controller design and observer design, so that the number of parameters that need to be adjusted is greatly reduced.

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