Research on Cross-coupling Synchronous Controller of Permanent-Magnet-Synchronous-Motor-Driven H-type Platform

Aiming at the problem of asynchronous movement of the two sides of the H-type platform driven by permanent magnet synchronous motor due to uncertain factors such as permanent magnet linear parameter changes and disturbances, this paper proposes a global fast non-singular terminal sliding mode cross-coupling control, which uses global fast non-synchronized control on a single axis. The singular terminal sliding mode is used as the position controller, and the speed controller uses ordinary PI control to ensure the single-axis tracking accuracy. In this paper, a cross-coupling synchronous controller for driving the H-type platform is studied based on a permanent magnet synchronous motor.