Generalized Predictive Contour Control of the Biaxial Motion System

In order to overcome the redundancy of the biaxial motion system's traditional control structure and the cumbersome nature of the controller parameter adjustment, this paper simplifies the traditional control structure and proposes a generalized predictive contour control strategy applicable to the biaxial motion system based on the idea of unified modeling. The two permanent magnet synchronous motors that drive the biaxial motion system are considered as a whole to establish a unified model. Through the idea of multistep prediction, rolling optimization, and feedback correction in generalized predictive control, the optimal control input signal is obtained by coordinating the tracking error and contour error. In addition, an actuating value limitation has to be taken into account to design a realizable generalized predictive contour control for the biaxial system. At the same time, the closed-loop stability analysis of the generalized predictive contour control system is carried out according to the optimal control principle and the state equation model. The experimental results show that the proposed control strategy cannot only accurately track the contour trajectory at steady state but also improve the transient contour tracking performance.