Robust control for a biaxial servo with time delay system based on adaptive tuning technique

Area of Science:

• Robotics and Control Systems
• Mechanical Engineering
• Mechatronics

Background:

• Biaxial servo systems require precise synchronization for optimal performance.
• Conventional control methods struggle with skew error and parameter variations.
• Existing controllers often lack robustness against disturbances and dynamic uncertainties.

Purpose of the Study:

• To propose a robust control method for synchronizing biaxial servo system motion.
• To develop an adaptive cross-coupled controller (ACCC) to replace fixed-gain controllers.
• To enhance system stability and performance under uncertain dynamics and load changes.

Main Methods:

• Utilized network-based cross-coupled control with adaptive tuning techniques.
• Implemented an adaptive cross-coupled controller (ACCC) for synchronization.
• Integrated adaptive-tuning PID (APID) controllers for position and velocity.
• Augmented a delay-time compensator (DTC) with an adaptive controller.

Main Results:

• The proposed ACCC effectively cancels skew error in biaxial servo systems.
• Adaptive-tuning PID controllers ensured synchronization during variable trajectory following.
• The delay-time compensator enhanced closed-loop stability.
• The control scheme demonstrated strong robustness against parameter variations and load disturbances.

Conclusions:

• The developed control scheme provides robust synchronization for biaxial servo systems.
• The adaptive approach ensures reliable performance across diverse operating conditions.
• Simulation and experimental results validate the effectiveness of the proposed control structure.