Abstract
The H-type gantry stage (HGS) is widely used in electric vehicle manufacturing and other fields. However, resulting from the existence of mechanical coupling, the synchronous control problem of HGS always troubles many engineers. Most synchronization schemes were either engaged in improving each motor’s tracking performance or committed to pure motion synchronization only. However, tracking and synchronous performance are interconnected, because of the mechanical coupling. In this paper, a rigid assumed system model of HGS, concerning the effects of mid-beam rotary inertia, mid-beam stiffness, and end-effector movement, is presented. Based on the proposed model, an adaptive robust synchronous control based on a rigid assumed model (ARSCR) is proposed to improve both synchronous and tracking performance of the HGS. From the Lyapunov analysis, the proposed ARSCR can achieve the convergence of synchronous error and tracking error, simultaneously. An HGS driven by dual linear motors is built and used to perform the experimental verification. The experimental results indicate the effectiveness of the proposed method.
Highlights
The H-type gantry stage (HGS) is widely used in electric vehicles, manufacturing automated processes, motion simulators, measuring, etc
An HGS, which is widely used in electric vehicle manufacturing, driven by dual linear motors was built
A rigid assumed model of HGS, whose mid-beam was assumed to be rigid and mid-beam stiffness was simulated by a tensile and a torsion spring, was proposed
Summary
The H-type gantry stage (HGS) is widely used in electric vehicles, manufacturing automated processes, motion simulators, measuring, etc. The mid-beam, each end of which is driven by motors, moves perpendicular to the beam axis. This configuration improves the motion stiffness, so that HGS can be applied in most engineering fields. The PID controller is always adopted for each motor This method without consideration of the mechanical coupling between the two motors is simple, but inefficient. Koren [2,3] proposed a cross-couple control (CCC) method to decrease the contour errors for manufacturing systems. This method uses a traditional controller to process the Energies 2019, 12, 2305; doi:10.3390/en12122305 www.mdpi.com/journal/energies
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