Dynamic Characteristics Analysis and Test of Dual-Driving Feed System Driven by Center of Gravity

Abstract

Dual-driving feed system (DDFS) driven by center of gravity (DCG) has been widely used in advanced manufacturing machine for its high rigidity and precision. However, the DCG technology requires that the joint force coincides with the center of gravity of the sliding stage. The dual-driving synchronization and tracking performance will be affected by the change of center of gravity of the sliding stage. Therefore, this paper proposes dynamic characteristics modeling, identification, and control scheme for DDFS driven by center of gravity (DCG). Firstly, a redundancy dynamic model including rotation and pitch vibration caused by the change of the position of center of gravity is presented for DDFS DCG based on the Lagrange method. The model parameters are identified by system identification experiment, and the predictive natural frequencies and vibration modes by the proposed dynamic model are compared by modal experiment. Moreover, the dynamic model-based cross-coupled sliding mode control (CCSMC) is proposed for DDFS DCG. Then, the proposed dynamic model-based CCSMC has been compared with normal cross-coupled sliding mode control (NCCSMC). Both the simulation and experimental results show that the proposed dynamic characteristics analysis and test scheme of DDFS DCG are validated effectively by comparisons.

Two-Degree-Of-Freedom Dynamic Model-Based Terminal Sliding Mode Control with Observer for Dual-Driving Feed Stage

“…15.1008 58.3671 73.2533 0.0027 The detailed parameters identification method, such as the equivalent mass and stiffness, which can be found in Reference [28], is described by measuring the motor output torque when the stage is displaced at various constant velocities. The physical parameters of the 2-DOF dual-driving feed stage are listed in Table 2.…”

Quantitative analysis for effects of structural stiffness on vibration characteristics of machine tool feed system

“…However, the corresponding frequency errors are less than 6 %. Compared with reference [14], although Lagrange equation is used to establish the dynamic model of feed system, the error is more than 6.3 %. It can be seen that the modeling method can accurately reflect the dynamic characteristics of the ball screw feed system.…”

Analysis of Dual-Driven Feed System Vibration Characteristics Based on Computer Numerical Control Machine Tools: A Systematic Review

“…Dual-driven and single-driven feed systems are the mechanisms various machines apply to transport materials or components through a processing or assembly line. Several studies have been offered to provide a comprehensive understanding of DDFS [16,17,[29][30][31]. While comparing these two different feeding systems, as shown in Table 1, this research considers the number of motors, the control, the speed, the structural complexity, and the load distribution.…”

“…In addition, the drive-by-center-of-gravity method centered on a DDFS reduces vibration and increases control system bandwidth [32]. Moreover, the DDFS can provide high driving forces, which are widely used in gantry-type machines [17].…”

“…A unidirectional dual-feed servosystem of DDFS, shown in Figure 1 [13,14], features excellent precision and stability due to the dual-drive structure's powerful force, low inertia, substantial transmission stiffness, and broad control frequency. DDFS is extensively applied in high-precision manufacturing machinery, including gantry-type tools and rectangular coordination robotics [15][16][17]. Due to its potential to considerably affect the control performance, machining precision, and stability of massive gantry-type equipment, the twin ball screw feed system's (TBSFS) dynamic features occupy an enormous part of increasing the positioning and manufacturing consistency [18][19][20][21][22][23].…”