| The linear motor has advantages of simple structure, high positioning accuracy, high speed, good sensitivity, low noise, safe and reliable, etc. For these reasons, it has been widely applied to many areas of industrial manufacturing and production process. Especially, the fast and accurate control for a linear motor is one of the most important researching topics in the field of motor motion control.Since the linear motor is a strongly nonlinear system, its precise mathematical model is hard to be obtained, such that model-based control methods cannot be well performed. Under such conditions, how to effectively use a large number of online data during the operation to achieve high precision control of the linear motor system has great significance and practical value. As a typical data-driven approach, Model Free Adaptive Control (MFAC) method is fairly suitable for this problem. This paper modifies the pseudo gradient parameter of MFAC dynamical linearization model and proposes a novel Accelerated Parameter Estimation MFAC (APE-MFAC). Meanwhile, APE-MFAC algorithm is done in MATLAB simulation and applied to Dual-axis Linear Motor Gantry System. Numerical simulations and experimental study have shown that, APE-MFAC algorithm can improve control accuracy of corresponding plant. Especially, when fast time-varying signal desired, it has a great improvement compared with conventional methods in the control effect. The main contributions of this manuscript can be conclude as follows:Firstly, the composition and characteristics of linear motors are analyzed, and the APE-MFAC algorithm is proposed based on prototype MFAC algorithm. Specifically, APE-MFAC algorithm modifies the linear dynamic parameter estimation algorithm of the system by adding an adjustment in its estimation process. Consequently, estimation of the parameters is accelerated, which makes APE-MFAC algorithm has stronger tracking capability for fast time-varying signal.Secondly, the MATLAB numerical simulation studies are provided to verify the effectiveness of APE-MFAC. Meanwhile, comparative studies between prototype MFAC algorithm and PID algorithm are also presented, which show that the control performance of APE-MFAC is effective and reliable, especially for fast time-varying signal.Finally, the APE-MFAC is implemented in a practical biaxial linear motor gantry system. Moreover, compared with the experimental results using prototype MFAC, the effectiveness and superiority of APE-MFAC algorithm is further verified. |
