Advanced Synchronous Control of Dual Parallel Motion Systems

Load torque composite synchronous control of dual‐driven systems

“…However, the driving and synchronization objectives exhibit a strong interdependence in the original coordinates, as depicted in Figure 1, which could be difficult to analyze due to the coupling effect. In recent literature, it is a common and effective method to transform dynamics model into the control‐oriented virtual coordinates [7, 12, 18, 20]. $$$$\begin{equation}\left[ { \def\eqcellsep{&}\begin{array}{@{}*{1}{c}@{}} {{T}_{Ldrive}}\\ {{T}_{Lsync}} \end{array} } \right] = {\bm{P}}\left[ { \def\eqcellsep{&}\begin{array}{@{}*{1}{c}@{}} {{T}_{L1}}\\ {{T}_{L2}} \end{array} } \right]\end{equation}$$$$where $${\bm{P}}$$ is the transformation matrix; $${T}_{Ldrive}$$ and $${T}_{Lsync}$$ represent load torque in the virtual drive‐axis and the sync‐axis, respectively.…”

“… $$$$\begin{equation}\left[ { \def\eqcellsep{&}\begin{array}{@{}*{1}{c}@{}} {{T}_{Ldrive}}\\ {{T}_{Lsync}} \end{array} } \right] = {\bm{P}}\left[ { \def\eqcellsep{&}\begin{array}{@{}*{1}{c}@{}} {{T}_{L1}}\\ {{T}_{L2}} \end{array} } \right]\end{equation}$$$$where $${\bm{P}}$$ is the transformation matrix; $${T}_{Ldrive}$$ and $${T}_{Lsync}$$ represent load torque in the virtual drive‐axis and the sync‐axis, respectively. Motivated by [20], 1‐axis is defined as the virtual drive‐axis. Compared to other transformations, this particular transformation effectively separates the driving and synchronization objectives, thereby simplifying the expression of the system.…”

“…Essentially, as a state‐based scheme, the general CCC scheme oversimplifies the complicated coupling effect, and thus, the $${T}_{Lsync}$$ component caused by the model differences cannot be compensated accurately [17–20]. In order to improve the load synchronization performance, it is imperative to employ composite control methods to compensate the desynchronization factors caused by model differences and sync‐disturbances.…”

“…In multi-input multi-output (MIMO) systems, the mechanical coupling relationships are common and tend to result in high-order and complex dynamics, which further promotes researches based on advanced control algorithms [16][17][18][19][20][21][22][23][24]. A new torque allocation scheme combined with fast terminal sliding-mode control is proposed in Ref.…”

Flatness-Based Control in Successive Loops of an H-Type Gantry Crane with Dual PMLSM

“…Dual-drive H-type gantry cranes are long-stroke high-speed Cartesian robotic systems which can be used in several industrial applications, such as (i) circuit assembly, printing circuit boards, photolithography, (ii) precision machining, computer numerical control (CNC), arc welding and laser or plasma cutting, (iii) as lifting machines and for the loading, unloading and transfer of cargos, and finally (iv) in biomedical applications such as CT and X-ray scanning [26][27][28]. The dual-drive H-type gantry crane consists of two linear motors which are arranged in parallel along the vertical axes of an orthogonal board and which are rigidly connected with a cross-beam along the horizontal axis [29][30][31] . Dual drive gantry cranes can achieve high torque and high precision in tasks' execution [32][33][34].…”