Yao Suhua, Gao Guoqin, Gao Zhiqiang
School of Electrical & Information Engineering, Jiangsu University, Zhenjiang 212013, China; School of Turbine Electrical & Intelligent Engineering, Jiangsu Marine Institute, Nanjing 211112, China.
School of Electrical & Information Engineering, Jiangsu University, Zhenjiang 212013, China.
ISA Trans. 2021 Mar;109:259-268. doi: 10.1016/j.isatra.2020.10.012. Epub 2020 Oct 13.
In this paper, the cascade control (CC), a structure popular among practitioners in many industry sectors, is used to bridge the two prominent research methodologies in SMC and ADRC for the purpose of multi-axis motion synchronization. In particular, the cascade sliding mode control(C-SMC) is first proposed, from which the cascade active disturbance rejection control (C-ADRC) is derived. This allows the linear and fal-function based nonlinear control actions to be naturally integrated and the controller parameters can be tuned easily with the proposed space-time scaling method. The control law is constructed and validated in multi-axis motion synchronization of parallel mechanisms. The results show that the proposed scheme is effective and practical, with the robustness associated with the bandwidth constraints.
