0
Research Papers

Modeling and Synchronous Control of Dual Mechanically Coupled Linear Servo System

[+] Author and Article Information
Wu-Sung Yao

Department of Mechanical and
Automation Engineering,
National Kaohsiung First University of
Science and Technology,
No. 1, University Road,
Yanchao District,
Kaohsiung City 824, Taiwan
e-mail: wsyao@ nkfust.edu.tw

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received February 13, 2014; final manuscript received September 21, 2014; published online November 7, 2014. Assoc. Editor: Ryozo Nagamune.

J. Dyn. Sys., Meas., Control 137(4), 041009 (Apr 01, 2015) (8 pages) Paper No: DS-14-1066; doi: 10.1115/1.4028688 History: Received February 13, 2014; Revised September 21, 2014

This paper presents a system modeling technique for a high-speed gantry-type machine tool driven by linear motors. One feed axis of the investigated machine tool is driven by the joint thrust from two parallel linear motors. These two parallel motors are coupled mechanically to form the Y-axis while another standalone motor fixed to a support forms the X-axis. The components in the X-axis, which is treated as the mechanical coupling, are carried by the slides of the Y-axis motors. This configuration is applied to improve the dynamic stiffness of the system and operation speed/acceleration. However, the precise synchronous control of the two parallel and coupled motors would be the major challenge. To overcome this challenge, a multivariable system identification method is developed in this paper. This method is used to construct an accurate system mathematical model for the target coupled system. A synchronous control scheme is then applied to the model obtained using the proposed technique. The performance of the system is experimentally verified with a high-speed S-curve motion profile. The results substantiate the constructed system model and demonstrate the effectiveness of the control scheme.

Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.

References

Sun, D., Dong, H. N., and Tso, S. K., 2002, “Tracking Stabilization of Differential Mobile Robots Using Adaptive Synchronization Control,” Proceedings of IEEE International Conference on Robotics and Automation, Washington, DC, May 11–15, Vol. 3, pp. 2638–2643. [CrossRef]
Yao, W. S., 2002, “Design of Linear Servo Systems for High-Speed Machine Tools,” Ph.D. dissertation, Department of Mechanical Engineering, National Cheng Kung University, Taiwan.
Lammers, G. M., 1994, “Linears Lead in Ultra-Smooth Motion,” Mach. Design, 66(17), pp. 60–64.
Zhao, D., Li, S., Gao, F., and Zhu, Q., 2009, “Robust Adaptive Terminal Sliding Mode-Based Synchronized Position Control for Multiple Motion Axes Systems,” Control Theory Appl., 3(1), pp. 136–150. [CrossRef]
Yang, L. F., and Chang, W. H., 1996, “Synchronization of Two-Gyro Precession Under Cross-Coupled Adaptive Feedforward Control,” J. Guid. Control Dyn., 19(3), pp. 534–539. [CrossRef]
Sun, D., Lu, R., Mills, J. K., and Wang, C., 2006, “Synchronous Tracking Control of Parallel Manipulators Using Cross-Coupling Approach,” Int. J. Rob. Res., 25(11), pp. 1137–1147. [CrossRef]
Xiao, Y., Zhu, K. Y., and Liaw, H. C., 2005, “Generalized Synchronization Control of Multi-Axis Motion Systems,” Control Eng. Pract., 13(7), pp. 809–819. [CrossRef]
Kulkarni, P. K., and Srinivasan, K., 1990, “Cross-Coupled Control of Bi-Axial Feed Drive Servo-Mechanism,” ASME J. Dyn. Syst. Meas. Control, 112(2), pp. 225–232. [CrossRef]
FANUC AC SERVO MOTOR (α)-series, FANUC, Japan, December 1999.
Sarachik, P., and Ragazzini, J. R., 1957, “A 2-Dimensional Feedback Control System,” AIEE Trans., 76(2), pp. 55–61. [CrossRef]
Wu, J., Wang, J., Wang, L., and Li, T., 2009, “Dynamics and Control of a Planar 3-DOF Parallel Manipulator With Actuation Redundancy,” Mech. Mach. Theory, 44(4), pp. 835–849. [CrossRef]
Wu, J., Li, T., and Xu, B., 2013, “Force Optimization of Planar 2-DOF Parallel Manipulators With Actuation Redundancy Considering Deformation,” Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci., 227(6), pp. 1371–1377. [CrossRef]
Wu, J., Li, T., and Wang, L., 2013, “Counterweight Optimization of an Asymmetrical Hybrid Machine Tool Based on Dynamic Isotropy,” J. Mech. Sci. Technol., 27(7), pp. 1915–1922. [CrossRef]
Lin, F. J., Chou, P. H., Chen, C. S., and Lin, Y. S., 2012, “DSP-Based Cross-Coupled Synchronous Control for Dual Linear Motors via Intelligent Complementary Sliding Mode Control,” IEEE Trans. Ind. Electron., 59(2), pp. 1061–1073. [CrossRef]
Iván, G. H., Xavier, K., Julien, G., Ralph, C., and Barre, P. J., 2013, “Model-Based Decoupling Control Method for Dual-Drive Gantry Stages: A Case Study With Experimental Validations,” Control Eng. Pract., 21(3), pp. 298–307. [CrossRef]
Haack, B., and Tomizuka, M., 1991, “The Effect of Adding Zeros to Feedforward Controllers,” ASME J. Dyn. Syst. Meas. Control, 113(1), pp. 6–10. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Configuration of the linear motor driven machine tool with box-in-box structure

Grahic Jump Location
Fig. 2

Parallel synchronous control

Grahic Jump Location
Fig. 3

Tandem control with velocity feedforward compensation

Grahic Jump Location
Fig. 4

Block diagram from the thrust command to the velocity output

Grahic Jump Location
Fig. 5

Block diagram of the target system from the thrust input to velocity output with the mechanical coupling

Grahic Jump Location
Fig. 6

Control system linearly composed of the four transfer functions

Grahic Jump Location
Fig. 7

The control system with the velocity controllers

Grahic Jump Location
Fig. 8

Proposed multivariable system identification diagram

Grahic Jump Location
Fig. 9

Frequency responses obtained from simulation and experiment of (a) GV1*-V1, (b) GV1*-V2, (c) GV2*-V1, and (d) GV2*-V2

Grahic Jump Location
Fig. 10

Velocity outputs with two thrust sources and given parameters

Grahic Jump Location
Fig. 11

Equivalent block diagram of the transfer function GV1*-V1 with the free slide 2

Grahic Jump Location
Fig. 12

Equivalent block diagram of the transfer function GV1*-V2 with V2*=0

Grahic Jump Location
Fig. 13

Equivalent block diagram of the transfer function GV2*-V2 with the free slide 1

Grahic Jump Location
Fig. 14

Equivalent block diagram of the transfer function GV2*-V1 with V1*=0

Grahic Jump Location
Fig. 15

Block diagram of the coupled system with velocity controllers

Grahic Jump Location
Fig. 16

Frequency responses in Fig. 15 obtained from simulation and experiment of (a) motor 1 and (b) motor 2, respectively

Grahic Jump Location
Fig. 17

Target system with synchronous compensator

Grahic Jump Location
Fig. 18

The proposed synchronous control structure

Grahic Jump Location
Fig. 19

The magnitude plots of F(s) (solid) and 2/H(s) (dashed)

Grahic Jump Location
Fig. 20

The phase plot of FH

Grahic Jump Location
Fig. 21

The experimental setup

Grahic Jump Location
Fig. 22

The plot of the control inputs u1 (solid) and u2 (dashed)

Grahic Jump Location
Fig. 23

Synchronization error in position with and without the deformation force compensation

Grahic Jump Location
Fig. 24

Position responses of motor 1 with and without the feedforward compensation

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In