Optimal Synchronization Control of High-Precision Motion Systems

Recently, in the motion control area, one of the most challenging problems has been synchronization control of multiple motion axes or drivers. Unfortunately, the majority of the previous approaches have not fully addressed the synchronization problem when the system performs a complex motion. In this paper, a novel synchronized design of the high-precision motion control system is presented. The basic idea is to introduce the coupling and synchronization factors into the definition of the synchronization error. Then, a new quadratic performance index incorporating the synchronization errors of the multiple motion axes is introduced so that the resulting control law generates the cross-coupling control action, and as a consequence, improved tracking and synchronization performance can be obtained. The key to the success of the new design is to ensure that each motor tracks its desired trajectory while synchronizing motion with others. Computer simulations and real-time experiments on a servo system with two permanent-magnet linear motors demonstrate the effectiveness of the method