Predictive Position Control of Long-Stroke Planar Motors for High-Precision Positioning Applications

Su Dan Huang; Guang Zhong Cao; Junqi Xu; Yukang Cui; Chao Wu; Jiangbiao He

doi:10.1109/TIE.2020.2984408

Predictive Position Control of Long-Stroke Planar Motors for High-Precision Positioning Applications

Su Dan Huang, Guang Zhong Cao, Junqi Xu, Yukang Cui, Chao Wu, Jiangbiao He

Research output: Contribution to journal › Article › peer-review

31 Scopus citations

Abstract

This article proposes a predictive position control of long-stroke planar motors to achieve micrometer-scale positioning under long-stroke time-varying trajectory tracking for use in high-precision positioning applications. The motivation consists in the potential application of model predictive control in long-stroke planar motors for high-precision positioning systems. This control is the first of its kind for planar motors. A dynamic model of a long-stroke planar motor developed in the laboratory is built, and then a predictive model is established to predict future positions of the motor. An additional term is introduced to a cost function to improve the positioning accuracy, which provides an output feedback control action to the motor for reducing the model error of the predictive model. By minimizing the cost function, an analytically explicit solution of the optimal control sequence is obtained, which makes the computational burden of the controller low. The stability of the control system is discussed based on the closed-loop state-space model. Moreover, the selection of stable control parameters is theoretically given. Simulation and experimental results demonstrate the effectiveness of the proposed control method of long-stroke planar motors for use in high-precision positioning applications.

Original language	English
Article number	9057537
Pages (from-to)	796-811
Number of pages	16
Journal	IEEE Transactions on Industrial Electronics
Volume	68
Issue number	1
DOIs	https://doi.org/10.1109/TIE.2020.2984408
State	Published - Jan 2021

Bibliographical note

Publisher Copyright:
© 1982-2012 IEEE.

Funding

Manuscript received August 3, 2019; revised December 17, 2019 and February 26, 2020; accepted March 10, 2020. Date of publication April 6, 2020; date of current version October 19, 2020. This work was supported in part by the National Natural Science Foundation of China under Grant 51907128, Grant 51677120, and Grant U1813212, in part by the Natural Science Foundation of Guangdong Province, China under Grant 2017A030310460, in part by Shenzhen Government Fund under Grant JCYJ20190808142211388 and Grant JCYJ20170919104246276, and in part by the Natural Science Foundation of SZU under Grant 2017039. (Corresponding author: Guang-Zhong Cao.) Su-Dan Huang, Guang-Zhong Cao, Yukang Cui, and Chao Wu are with the Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots, Shenzhen Key Laboratory of Electromagnetic Control, College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen 518060, China (e-mail: [email protected]; [email protected]; [email protected]; [email protected]).

Funders	Funder number
Natural Science Foundation of SZU	2017039
Shenzhen Government Fund	JCYJ20170919104246276, JCYJ20190808142211388
National Natural Science Foundation of P.R. China	51907128, 51677120, U1813212
National Natural Science Foundation of P.R. China
Natural Science Foundation of Guangdong Province	2017A030310460
Natural Science Foundation of Guangdong Province

Keywords

High-precision positioning systems
model predictive control (MPC)
planar motor
time-varying trajectory tracking

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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Cite this

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title = "Predictive Position Control of Long-Stroke Planar Motors for High-Precision Positioning Applications",

abstract = "This article proposes a predictive position control of long-stroke planar motors to achieve micrometer-scale positioning under long-stroke time-varying trajectory tracking for use in high-precision positioning applications. The motivation consists in the potential application of model predictive control in long-stroke planar motors for high-precision positioning systems. This control is the first of its kind for planar motors. A dynamic model of a long-stroke planar motor developed in the laboratory is built, and then a predictive model is established to predict future positions of the motor. An additional term is introduced to a cost function to improve the positioning accuracy, which provides an output feedback control action to the motor for reducing the model error of the predictive model. By minimizing the cost function, an analytically explicit solution of the optimal control sequence is obtained, which makes the computational burden of the controller low. The stability of the control system is discussed based on the closed-loop state-space model. Moreover, the selection of stable control parameters is theoretically given. Simulation and experimental results demonstrate the effectiveness of the proposed control method of long-stroke planar motors for use in high-precision positioning applications.",

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Predictive Position Control of Long-Stroke Planar Motors for High-Precision Positioning Applications

Abstract

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