A new synchronous error control method for CNC machine tools with dual-driving systems

Driving an object along one axis with two driving systems is a common method for obtaining high acceleration and high trust force for a large CNC machine tool. However, if large synchronous movement error exists between the two driving systems, the machine will not be able to achieve high acceleration. Moreover, it may also cause serious structure deformation and damage to the machine. To solve this problem, a new control method integrating the model reference adaptive control and variable structure control was developed and verified in this study. The proposed method can determine and compensate on-line the synchronous movement errors between two driving systems so that the master driving unit and the slave driving unit of a dual-driving system can synchronously move with no large drag force and reach the desired acceleration. Experiments were performed on a gantry-type two-axis platform with a sliding 5-Kg metal block attached on the X-axis. The experimental results showed that the maximum and the average synchronous movement errors were reduced from 0.061 mm to 0.040 mm and from 0.032 mm to 0.013 mm, respectively.

[1]  Wpmh Maurice Heemels,et al.  Proc. of the 38th IEEE Conference on Decision and Control , 1999 .

[2]  Myung-Soo Choi,et al.  A method of synchronous control system for dual parallel motion stages , 2012 .

[3]  Sungchul Jee,et al.  Real-time inertia compensation for multi-axis CNC machine tools , 2012 .

[4]  J.A. Tenreiro Machado,et al.  Stability analysis in variable structure position/force hybrid control of manipulators , 1997, Proceedings of IEEE International Conference on Intelligent Engineering Systems.

[5]  R. B. Potts,et al.  A class of discrete variable structure systems , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[6]  Zhao Lu,et al.  Tracking Control of Nonlinear Systems: a Sliding Mode Design via Chaotic Optimization , 2004, Int. J. Bifurc. Chaos.

[7]  Kyoung Kwan Ahn,et al.  Development of a novel linear magnetic actuator with trajectory control based on an online tuning fuzzy PID controller , 2012 .

[8]  S.M. Kang'ethe,et al.  Position control using variable structure control , 1996, Proceedings of IEEE. AFRICON '96.

[9]  H. Wakiwaka,et al.  Consideration On High-response Of A Linear DC Motor , 1997, 1997 IEEE International Magnetics Conference (INTERMAG'97).

[10]  Bijnan Bandyopadhyay,et al.  Variable structure model following controller using non-dynamic multirate output feedback , 2003 .

[11]  Dong Sun,et al.  Tracking stabilization of differential mobile robots using adaptive synchronized control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[12]  E. Kreindler,et al.  Variable structure control of a tank gun , 1992, [Proceedings 1992] The First IEEE Conference on Control Applications.

[13]  R.D. Lorenz,et al.  Synchronized motion control for process automation , 1989, Conference Record of the IEEE Industry Applications Society Annual Meeting,.

[14]  K. Youcef-Toumi,et al.  Modelling and digital servo control of a two-axis linear motor , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[15]  Michifumi Yoshioka,et al.  Neuro-PID control for inverted single and double pendulums , 2000, Smc 2000 conference proceedings. 2000 ieee international conference on systems, man and cybernetics. 'cybernetics evolving to systems, humans, organizations, and their complex interactions' (cat. no.0.