DSP-based cross-coupled synchronous control for dual linear motors via intelligent complementary sliding mode control

A digital signal processor (DSP)-based cross-coupled intelligent complementary sliding mode control (ICSMC) system is proposed in this paper for the synchronous control of a dual linear motor servo system. The dual linear motor servo system with two parallel permanent magnet linear synchronous motors is installed in a gantry position stage. The dynamic model of single-axis motion control system with a lumped uncertainty, which comprises parameter variations, external disturbances, and nonlinear friction force, is introduced first. Then, to achieve an accurate trajectory tracking performance with robustness, a cross-coupled ICSMC is developed. In this approach, a Takagi-Sugeno-Kang-type fuzzy neural network estimator with accurate approximation capability is implemented to estimate the lumped uncertainty. Moreover, since a cross-coupled technology is incorporated into the proposed intelligent control scheme for the gantry position stage, both the position tracking and synchronous errors of the dual linear motors will simultaneously converge to zero. Furthermore, to effectively demonstrate the control performance of the proposed intelligent control approach, a 32-b floating-point DSP-based control computer is developed for the implementation of the proposed cross-coupled ICSMC system. Finally, some experimental results are illustrated to show the validity of the proposed control approach.