Dynamic Decoupling Method Based on Motor Dynamic Compensation with Application for Precision Mechatronic Systems

Abstract

Motors are widely employed in mechatronic systems, especially in precision multiple degrees of freedom motion systems. In most applications, the dynamic equation between the motor instruction and the actual driving force is simplified as a constant. Subsequently, the static decoupling method can be utilized to design the feedback controller. However, in high-precision mechatronic systems, motor dynamics cannot be neglected, and the static decoupling performance is compromised due to discrepancies between motors. In this paper, a dynamic decoupling method is developed to improve the decoupling performance of the multiple-input multiple-output systems. The effects of transmission delays, motor dynamics, and discrepancies between different motors are taken into consideration in the dynamic decoupling method. Furthermore, a data-driven optimization method is developed to estimate the parameters of the dynamic decoupling controller. The effectiveness and superiority of the proposed method are demonstrated through numerical simulations. The experimental results show that the dynamic decoupling control method can achieve a 97.75% performance improvement at least compared to the static decoupling control method.