Advanced Synchronous Control of Dual Parallel Motion Systems

Abstract

Dual parallel motion systems are mechanisms that drive load jointly by dual parallel motion axes. For these special mechanisms, diminishing desynchronization between parallel axes is essential to harness the potential performance of the whole system. However, a wide variety of synchronization applications tend to have great differences in control objectives and mechanical structures, which makes it laborious and time-consuming to design customized control schemes. Meanwhile, existing generalized synchronous control schemes are simply based on state compensation, which finitely offset mechanical coupling effect and limit the synchronization performance. To overcome these drawbacks, a generalized model of dual parallel motion systems is presented in this article, which can categorize the synchronous control objective into one uniform expression. By applying motion decoupling strategy to the generalized model, an advanced composite synchronous control scheme is proposed, which provides a generalized synchronization solution with comprehensively considering the motion coupling effect. Finally, simulation and experimental results on a dual-driven gantry platform verify that the proposed control scheme can significantly improve the synchronization performance.