DSP-based cross-coupled synchronous control for dual linear motors via functional link radial basis function network

A digital signal processor (DSP)-based cross-coupled functional link radial basis function network (FLRBFN) control is proposed in this study for the synchronous control of a dual linear motors servo system which is installed in a gantry position stage. The dual linear motors servo system comprises two parallel permanent magnet linear synchronous motors (PMLSMs). First, the dynamics of the field-oriented control PMLSM servo drive with a lumped uncertainty, which contains parameter variations, external disturbance and friction force, is introduced. Then, to achieve accurate trajectory tracking performance with robustness, an intelligent control approach using FLRBFN is proposed for the field-oriented control PMLSM servo drive system. The proposed FLRBFN is a radial basis function network (RBFN) embedded with a functional link neural network (FLNN). The network structure and its on-line learning algorithms for connective weights, means and standard derivations are described in detail. Moreover, since a cross-coupled technology is incorporated into the proposed intelligent control scheme for the gantry position stage, both of the position tracking errors and synchronous errors of dual linear motors will converge to zero, simultaneously. Finally, some experimental results are illustrated to depict the validity of the proposed control approach.