Research on PD Control of Bi-axis Based on Cross-Coupling

Abstract

Coordinated mufti-axis motion control has become increasingly more practical. More and more researchers pay attention to this field. In this paper, the model of the biaxial motion system is established firstly. Then, consider the effect of the position error between adjacent axes, combined with the PD control algorithm and the cross-coupling control algorithm, a PD synchronization control strategy based on cross-coupling is proposed. The experiment results showed that the method used in this paper fully satisfies the control precision requirement of the biaxial motion control system.