Position Control of X-Y Precision Motion Stage Based on Iterative Learning and Model Prediction

The X-Y precision planar motion stage is a highly advanced motion control device that has been widely utilized in various precision motion control fields. This platform achieves precise positioning and control of objects through precise motion along the X and Y axes, providing an outstanding solution for scientific research, industrial production, and other applications. The X-Y platform consists of two permanent magnet synchronous linear motors. In the three-loop control of the motor, when the current loop uses a PID controller, there is a problem in tuning the parameters. This paper replaces the original PID controller in the current loop with a model predictive controller. Simultaneously, addressing the issue of improving the tracking accuracy of the X-Y precision planar motion stage, a forgetting high-order variable gain PD-type iterative learning control is proposed. Subsequently, both of these control methods are applied to the Simulink model of the X-Y precision motion stage motor. This not only solves the complex problem of tuning the motor current loop parameters but also improves the tracking accuracy of the X-Y precision motion stage. The results indicate that when using both model predictive controllers and forgetting high-order variable gain PD-type iterative learning controllers for motor control, not only can the tuning of current loop parameters be omitted, but also tracking errors can be effectively reduced, and the system convergence speed can be accelerated.