抄録
In this paper, high speed synchronization of multiple motion control axes under adaptive feedforward control is considered. The adaptive feedforward control system for one axis system consists of a proportional feedback controller and an adaptive feedforward controller. To synchronize the multiple motion control axes, the synchronizing controller, which responds to the tracking errors, is introduced. The structure of the synchronizing controller is investigated. The parameters of the adaptive feedforward controller are adjusted by the adaptation algorithm so that the tracking errors and the synchronization errors are removed. This results in the significant improvement of the tracking responses and the quick removal of the synchronization errors during transient as well as steady state. The synchronization for a four axes motion control system, of which parameters are significantly different, is investigated. Stability of the proposed synchronizing system is analyzed. Experimental results demonstrate the effectiveness of the proposed control scheme for synchronization.
