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Abstract: The problem of synchrodrive for gantry-moving milling
machines is researched, and two linear motors as traversing drive
mechanism of gantries are applied. In order to realize speed
synchronization, A robust decoupling control based on sliding mode
control strategy is applied to double motors synchrodrive system. And an
acceleration dynamic compensation is designed using the tension when
gantries are not aligned to eliminate the chattering caused by the
sliding mode control and to improve the synchronization precision more.
Simulation results verify that the proposed control strategy has strong
robustness and can realize dynamic synchronization, even under the
condition of asymmetrical load.
Key words: Gantry-moving milling machine Linear motor Synchro-servo
Sliding mode control Decoupling Acceleration compensation
CLC No: TM921.47
国家自然科学基金
(50075057)和辽宁省教育厅基金(20141040)资助项目. Received 20011122, received in
revised form 20020720 |