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.

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Fig. 1

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

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Fig. 2

Parallel synchronous control

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Fig. 3

Tandem control with velocity feedforward compensation

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Fig. 4

Block diagram from the thrust command to the velocity output

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Fig. 5

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

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Fig. 6

Control system linearly composed of the four transfer functions

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Fig. 7

The control system with the velocity controllers

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Fig. 8

Proposed multivariable system identification diagram

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Fig. 9

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

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Fig. 10

Velocity outputs with two thrust sources and given parameters

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Fig. 11

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

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Fig. 12

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

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Fig. 13

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

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Fig. 14

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

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Fig. 15

Block diagram of the coupled system with velocity controllers

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Fig. 16

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

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Fig. 17

Target system with synchronous compensator

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Fig. 18

The proposed synchronous control structure

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Fig. 19

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

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Fig. 20

The phase plot of FH

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Fig. 21

The experimental setup

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Fig. 22

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

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Fig. 23

Synchronization error in position with and without the deformation force compensation

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Fig. 24

Position responses of motor 1 with and without the feedforward compensation




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