RSEARCH ON SLIDING MODE DECOUPLING CONTROL OF DOUBLE LINEAR MOTOR IN GANTRY-MOVING MILLING MACHINE BASED ON ACCELERATION COMPENSATORY

Abstract

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

CLC Number:

TM921.47

Sun Yibiao;Guo Qingding. RSEARCH ON SLIDING MODE DECOUPLING CONTROL OF DOUBLE LINEAR MOTOR IN GANTRY-MOVING MILLING MACHINE BASED ON ACCELERATION COMPENSATORY[J]. , 2002, 38(12): 39-43.

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://www.cjmenet.com.cn/EN/

http://www.cjmenet.com.cn/EN/Y2002/V38/I12/39

[1]	GUO Shihang, WANG Shenlong, HOU Jinhui, LI Yongge. Design and Dynamic Modeling of a Multi-DOF Soft Robotic Fish with a Single Magnetic Actuator [J]. Journal of Mechanical Engineering, 2026, 62(5): 215-229.
[2]	LIANG Dong, HAN Zhiqiang, SONG Yimin, CHANG Boyan. Stiffness Modelling and Performance Evaluation of a Large Loading SCARA Parallel Robot [J]. Journal of Mechanical Engineering, 2025, 61(21): 213-226.
[3]	CHANG Boyan, GAO Yuhan, JIN Guoguang, MO Shuai, ZHOU Yang. Research on Dynamics of a Deployable Mechanism with Force and Position Constrains Based on Kresling Origami [J]. Journal of Mechanical Engineering, 2025, 61(21): 274-285.
[4]	WANG Tun, ZHANG Hang, ZHANG Shimin, ZHU Xiaoxiao, ZHANG Laibin, DAI Jiansheng. Design of a Human-machine Motion Centre Auto-matched Wrist Rehabilitation Exoskeleton [J]. Journal of Mechanical Engineering, 2025, 61(21): 100-110.
[5]	ZHENG Ruida, ZHANG Xianmin. Novel 9-Degree-of-freedom Kinematically Redundant Parallel Mechanism for Micro-component Assembly [J]. Journal of Mechanical Engineering, 2025, 61(21): 111-128.
[6]	XIANG Hongbiao, ZHAO Xianghong, YANG Lu, WANG Shoujun, ZHANG Sen, ZHANG Mian. Inverse Structural Design and Optimization of Magnetic Continuum Manipulators Oriented to Workspace Requirements [J]. Journal of Mechanical Engineering, 2025, 61(19): 101-111.
[7]	LI Shihua, XU Hongyu, WANG Sen, GAO Xueyuan, HAN Xueyan. Synthesis Method of Combined Weakly-coupled Parallel Mechanisms [J]. Journal of Mechanical Engineering, 2025, 61(17): 41-49.
[8]	ZHANG Jun, WU Chengyang, FANG Hanliang, SUN Zaichao, WANG Kailong, TANG Tengfei. Investigation on Driving Characteristics of a Z4 Redundantly Actuated Parallel Manipulator [J]. Journal of Mechanical Engineering, 2024, 60(7): 66-78.
[9]	ZHAO Zhiyuan, YANG Xiaohang, XU Zichun, LI Yuntao, TANG Jiawen, ZHAO Jingdong. Kinematic Singularity Analysis of a Novel SSRMS-type Reconfigurable Space Manipulator [J]. Journal of Mechanical Engineering, 2024, 60(5): 19-35.
[10]	LIU Xiaofei, WAN Bo, WANG Yu, LI Mingyu, ZHAO Yongsheng. Design, Analysis and Performance Optimization of a Novel Super-redundantly Actuated Hybrid Robot [J]. Journal of Mechanical Engineering, 2024, 60(3): 55-67.
[11]	YU Jinxu, YAN Jianhua, WANG Xiaoran, ZHANG Lijie, XIE Ping, LI Yongquan. Design and Verification of a Human-machine Fusion Hand Exoskeleton Robot [J]. Journal of Mechanical Engineering, 2024, 60(17): 102-110.
[12]	LIANG Xu, ZHANG Jianyong, LI Guotao, SU Tingting, HE Guangping, HOU Zengguang. Redundant Parallel Mechanism for Fracture Reduction Surgery: Design, Modeling and Performance Analysis [J]. Journal of Mechanical Engineering, 2024, 60(17): 133-146.
[13]	LIU Xiaofei, WAN Bo, CHEN Ran, YUAN Huiming, ZHAO Yongsheng. Kinematics Performance Analysis and Optimization of Symmetrical Super-redundant Parallel Manipulators 6RPS [J]. Journal of Mechanical Engineering, 2024, 60(1): 235-247.
[14]	CHEN Kaiyun, SHENG Chenyuan. Kinematic Characteristics and Workspace in Hybrid Mechanism of Multi-legged Peristaltic Climbing Robot [J]. Journal of Mechanical Engineering, 2023, 59(9): 28-39.
[15]	TIAN Yu, WANG Hongbo, LIU Ying, DU Jiazheng, NIU Jianye. Design and Analysis of an Exoskeleton Robot forIndex Finger Rehabilitation [J]. Journal of Mechanical Engineering, 2023, 59(9): 40-50.

RSEARCH ON SLIDING MODE DECOUPLING CONTROL OF DOUBLE LINEAR MOTOR IN GANTRY-MOVING MILLING MACHINE BASED ON ACCELERATION COMPENSATORY

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments