关键词: 滑模控制, 加速度补偿, 解耦, 龙门移动式镗铣床, 同步伺服, 直线电动机, 并联机构, 工作空间, 螺旋理论, 奇异性, 自由度

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: Acceleration compensation, Gantry-moving milling machine, Linear motor Synchro-servo, Sliding mode control Decoupling, Degree of Freedom, Parallel Manipulator, Screw Theory, Singularity, Workspace