In order to overcome the redundancy of the biaxial motion system's traditional control structure and the cumbersome nature of the controller parameter adjustment, this paper simplifies the traditional control structure and proposes a generalized predictive contour control strategy applicable to the biaxial motion system based on the idea of unified modeling. The two permanent magnet synchronous motors that drive the biaxial motion system are considered as a whole to establish a unified model. Through the idea of multistep prediction, rolling optimization, and feedback correction in generalized predictive control, the optimal control input signal is obtained by coordinating the tracking error and contour error. In addition, an actuating value limitation has to be taken into account to design a realizable generalized predictive contour control for the biaxial system. At the same time, the closed-loop stability analysis of the generalized predictive contour control system is carried out according to the optimal control principle and the state equation model. The experimental results show that the proposed control strategy cannot only accurately track the contour trajectory at steady state but also improve the transient contour tracking performance.

中文翻译：

---

双轴运动系统的广义预测轮廓控制


为了克服双轴运动系统传统控制结构的冗余性和控制器参数调整的繁琐性，本文简化了传统控制结构，基于以下思想提出了一种适用于双轴运动系统的广义预测轮廓控制策略统一建模。将驱动双轴运动系统的两台永磁同步电机视为一个整体，建立统一模型。通过广义预测控制中的多步预测、滚动优化和反馈修正的思想，协调跟踪误差和轮廓误差得到最优控制输入信号。此外，必须考虑致动值限制来为双轴系统设计可实现的广义预测轮廓控制。同时，根据最优控制原理和状态方程模型，对广义预测轮廓控制系统进行闭环稳定性分析。实验结果表明，所提出的控制策略不仅能够准确跟踪稳态轮廓轨迹，而且提高了瞬态轮廓跟踪性能。