Modeling and Synchronous Control of Dual Mechanically Coupled Linear Servo System

Abstract

This paper presents a system modeling technique for a highspeed gantrytype 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 Yaxis while another standalone motor fixed to a support forms the Xaxis. The components in the Xaxis, which is treated as the mechanical coupling, are carried by the slides of the Yaxis 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 highspeed Scurve motion profile. The results substantiate the constructed system model and demonstrate the effectiveness of the control scheme.