Model-based decoupling control method for dual-drive gantry stages: A case study with experimental validations

Garciaherreros, Ivan; Kestelyn, Xavier; Gomand, Julien; Coleman, Richard D.; Barre, Pierre-Jean

doi:10.1016/j.conengprac.2012.10.010

Cited by 48 publications

(19 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, the stacked-type planar stages suffer from Abbe error, because the reference axis cannot be in line with the functional axis in the working space; thus, the stacked-type planar stages are not proper from the viewpoints of both positioning accuracy and positioning speed. Gantry stages [5], consisting of two x-axes and a y-axis, provide high capacity and high stiffness. Their travel accuracy, however, is significantly influenced by the parallelism of two x-axes and the Abbe error is also large due to the large Abbe offset.…”

Section: Introductionmentioning

confidence: 99%

Development of a Compact Three-Degree-of-Freedom Laser Measurement System with Self-Wavelength Correction for Displacement Feedback of a Nanopositioning Stage

et al. 2018

View full text Add to dashboard Cite

This paper presents a miniature three-degree-of-freedom laser measurement (3DOFLM) system for displacement feedback and error compensation of a nanopositioning stage. The 3DOFLM system is composed of a miniature Michelson interferometer (MMI) kit, a wavelength corrector kit, and a miniature autocollimator kit. A low-cost laser diode is employed as the laser source. The motion of the stage can cause an optical path difference in the MMI kit so as to produce interference fringes. The interference signals with a phase interval of 90° due to the phase control are detected by four photodetectors. The wavelength corrector kit, based on the grating diffraction principle and the autocollimation principle, provides real-time correction of the laser diode wavelength, which is the length unit of the MMI kit. The miniature autocollimator kit based on the autocollimation principle is employed to measure angular errors and compensate induced Abbe error of the moving table. The developed 3DOFLM system was constructed with dimensions of 80 mm (x) × 90 mm (y) × 20 mm (z) so that it could be embedded into the nanopositioning stage. A series of calibration and comparison experiments were carried out to test the performance of this system.

show abstract

Section: Introductionmentioning

confidence: 99%

Development of a Compact Three-Degree-of-Freedom Laser Measurement System with Self-Wavelength Correction for Displacement Feedback of a Nanopositioning Stage

et al. 2018

View full text Add to dashboard Cite

show abstract

“…In the design phase, in order to investigate and predict the dynamic characteristics as accurately as possible for machine tools, a volume of dynamic models have been proposed in research. García-Herreros I et al [7] established a lumped parameter model of ETEL gantry-type dual-driven worktable using the Lagrange's equation, but the simplified model ignored the joint stiffness and damping. Experiments show that the model's non-synchronous error is large.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Experiment Research on Twin Ball Screw Feed System Considering the Joint Stiffness

et al. 2018

View full text Add to dashboard Cite

It is of great significance to study the dynamic characteristics of twin ball screw (TBS) feed system to improve the precision of gantry-type dual-driven computer numerical control (CNC) machine tools. In this paper, an equivalent dynamic model of the TBS feed system is established utilizing lumped mass method considering the stiffness of joints. Equivalent axial stiffness of screw-nut joints and bearing joints are both calculated by Hertz contact theory. Furthermore, a friction model is proposed because the friction force of the screw nut affects the stiffness of the joints. Then, the friction parameters are obtained by using the nonlinear system identification method. Meanwhile, a finite element model (FEM) is developed to assess the dynamic characteristics of TBS feed system under the stiffness of joints. Finally, validation experiments are conducted, and the results show that the positions of the nut and the velocities of worktable greatly affect the dynamic characteristics of the TBS feed system. Compared with the theoretical calculation, FEM and experiments indicate that the dynamic modeling proposed in this article can reach a higher accuracy.

show abstract

“…where −1 5×5 , 5×5 , and 5 are the simplified inertia (14), stiffness (15), and the force (16) matrices. In the DDFS DCG, the control problem is to establish a control law to guarantee the convergence of both the tracking error and synchronous error to zero simultaneously.…”

Section: Dynamic Model-based Sliding Mode Control Systemmentioning

confidence: 99%

“…In fact, the performance of DDFS suffered from the diversity of mechanism characteristics, deflection of joint thrust, and mechanical coupling [9][10][11][12]. To improve the synchronous performance, some scholars established the mechanical coupling models by identification technique [13][14][15], yet the models are established as first-order inertia links, and the parameters are identified without actual physical meaning [16].…”

Section: Introductionmentioning

confidence: 99%

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

Lü

Fan

Zhang

et al. 2018

Mathematical Problems in Engineering

View full text Add to dashboard Cite

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.

show abstract

Model-based decoupling control method for dual-drive gantry stages: A case study with experimental validations

Abstract: is an open access repository that collects the work of Arts et Métiers ParisTech researchers and makes it freely available over the web where possible.

Cited by 48 publications

References 14 publications

Development of a Compact Three-Degree-of-Freedom Laser Measurement System with Self-Wavelength Correction for Displacement Feedback of a Nanopositioning Stage

Development of a Compact Three-Degree-of-Freedom Laser Measurement System with Self-Wavelength Correction for Displacement Feedback of a Nanopositioning Stage

Dynamic Modeling and Experiment Research on Twin Ball Screw Feed System Considering the Joint Stiffness

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

Contact Info

Product

Resources

About