Abstract
The position synchronous control of multi-axis gantry-type feed stage is crucial in precision machine tools. Industrial position control which aims to widen the bandwidth and improve disturbance rejection of single axis is not enough to achieve precise synchronization in a dual-driving feed stage. The characteristics diversity, transmission-mechanism deformation, and mechanical coupling effect between dual axes will degrade the control accuracy. Hence, the novel two-degree-of-freedom (2-DOF) dynamic model-based terminal sliding mode control (TSMC) with disturbance and state observer is proposed in this paper for the synchronous control of a 2-DOF dual-driving feed stage. The 2-DOF dynamic model, based on Lagrange equation, is established along with the parameters identification method. The predictive natural frequencies and vibration modes frequencies by the proposed dynamic model are compared by a modal experiment. Then, the 2-DOF dynamic model-based TSMC is provided to satisfy the tracking and synchronization control. In order to reduce the chattering and to increase the robustness against the mechanical coupling, the disturbance and state observer is designed. Moreover, Lyapunov stability criterion is used to analyze the stability of the proposed control scheme. Finally, an industrial application of 2-DOF dual-driving feed stage is utilized to validate the effectiveness of the proposed control scheme. The proposed 2-DOF dynamic model-based TSMC with observer has been effectively demonstrated to improve synchronous performance and tracking accuracy.
Highlights
With the increasing demand for higher precision and greater productivity, modern manufacturing techniques have been in rapid development
The experimental results show the effectiveness of the proposed control scheme
Disturbances the mechanical of 2-DOFwith feedby stage be compensated by thethe disturbance anddue statetoobserver, while thecoupling effect associated dual-driving feed stage can be compensated by the disturbance and state observer, while the effect the acceleration and force of the stage is compensated by the terminal sliding mode control (TSMC) control
Summary
With the increasing demand for higher precision and greater productivity, modern manufacturing techniques have been in rapid development. The electronic virtual main shaft imposedhas onbeen the developed slave axis to cannot be fed to the problem master, which leads a poor dynamic control eliminate the back unbalanced based on the to master-slave theory synchronization performance. The tandem structure generates an unavoidable delay between the dual axes and The disturbance cross-coupled controlon was initially proposed processes and has been leads extended the load imposed the slave axis cannotfor becontour fed back to the master, which to a by many scholars. Considering the system identification test to obtain the dynamic characteristics of the dual-driving mechanical structure, some scholars develop the lumped parameter model for ball screw system, and design the acceleration feedforward controller based on the transfer function of the overall drive system.
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