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JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
Mechanical Engineering     
Dual-drive synchronous control with large payload based on H∞ cross-coupled algorithm
CHEN Hai sen, ZHANG De xin, WANG Ji he, SHAO Xiao wei, CHEN Guo zhong
1.School of Aeronautics and Astronautics, Shanghai JiaoTong University, Shanghai 200240, China
2.Shanghai Institute of Satellite Engineering, Shanghai 200240, China
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Abstract  

An H∞ cross-coupled synchronous control scheme was proposed in order to achieve high-precision synchronous control for large dual-drive gantry stages subject to external disturbances resulting from the moving payload and the parametric uncertainties. A dynamic model which reflects the movement of the large payload was constructed for a large dual-drive gantry stage based on Lagrange equation. In comparison with the existing modeling methods, the proposed method with friction model which reflects the mechanical coupling and the movement of the payload can more effectively represent the characteristics of dual-drive gantry stage with large payload. An H∞ control algorithm was suggested based on the dynamic model in order to attenuate the time-varying disturbances and large parametric uncertainties, and an H∞ controller was designed using the mixed sensitivity design method. A cross-coupled synchronous controller was adopted to reduce synchronous errors between each driver of the crossbeam. Experiments about different velocities of the payload in a large dual-drive gantry stage were conducted. Experimental results demonstrate that the proposed approach has the robustness against time-varying disturbances and different parametric uncertainties, and guarantees a high-precision synchronous control in the gantry stage. The proposed H∞ cross-coupled synchronous control algorithm has a higher accuracy when the velocity of the payload rises compared with the classical PID synchronous control algorithm.



Published: 01 January 2017
CLC:  TH 39  
Cite this article:

CHEN Hai sen, ZHANG De xin, WANG Ji he, SHAO Xiao wei, CHEN Guo zhong. Dual-drive synchronous control with large payload based on H∞ cross-coupled algorithm. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(1): 131-137.


基于H∞-交叉耦合算法的双驱同步控制

针对大型双驱龙门机床中由于大质量滑块运动导致的参数不确定性和时变干扰,为了实现高精度同步控制,提出H∞-交叉耦合同步控制算法.基于拉格朗日方程,建立能够反映大质量滑块运动的双驱龙门机床动力学模型.与现有的建模方法相比,动力学模型中的摩擦力模型能够反映大型龙门机床双驱间的机械耦合关系和大质量滑块的运动,可以更有效地描述具有大质量滑块的龙门机床双驱间的动力学特性.针对该动力学模型,通过基于混合灵敏度问题的设计方法,设计H∞鲁棒控制器,抑制参数不确定性和时变干扰,并设计交叉耦合控制器,减小机床双驱间的同步误差.在某大型双驱龙门机床开展滑块不同运动速度下的双直线电机同步驱动实验.实验结果表明,提出的方法不仅在处理不确定性和时变干扰方面具有显著的效果,而且能够保证该机床高精度同步运动.随着滑块运动速度的提高,提出的H∞-交叉耦合控制算法比传统的PID同步控制算法具有更好的动态性能.

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