Synchronization control strategy in multi-layer and multi-axis systems based on the combine cross coupling error

Abstract

Considering the variety of coupling errors and disturbances in multi-layer and multi-axis control systems, a novel control multi-layer and multi-axis strategy for structure is proposed in this article. First, the equivalent conversion of two models is proposed between master–slave mode and minimum adjacent coupling in multi-layer and multi-axis control model. Second, in view of existing synchronization control problem, this article presents master reference synchronous model and master–slave synchronous model in multi-layer and multi-axis synchronous control system. Moreover, an optimization control strategy based on combine cross coupling error control strategy is introduced. The stability and superiority of the proposed controller are theoretically analyzed. The combine cross coupling error experimental results demonstrate that interlayer starting synchronizing error maximum is 0.042 rad/s. Meanwhile, the startup and shutdown points of synchronizing error are 0.005 rad/s, the sync error tends to 0 between two points. The results show that the proposed strategy has a good tracking error and synchronizing error behavior.