Modelling and Contouring Error Bounded Control of a Biaxial Industrial Gantry Machine

Yuan, Meng; Manzie, Chris; Gan, Lu; Good, M C; Shames, Iman

doi:10.1109/ccta.2019.8920638

Cited by 2 publications

(1 citation statement)

References 11 publications

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“…H-type air floating motion platform can realize two degrees of freedom large stroke precise positioning motion and is widely applied in lithography silicon wafer stage, precision measuring equipment, and laser drilling equipment [ 1 , 2 , 3 ]. The platform is directly driven by the linear motor and supported and guided by the air floating guideway, which has the advantages of symmetrical structure and large overall stiffness.…”

Section: Introductionmentioning

confidence: 99%

Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

Sun

Zeng

Luo

et al. 2021

Entropy

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H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method.

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Section: Introductionmentioning

confidence: 99%

Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

Sun

Zeng

Luo

et al. 2021

Entropy

View full text Add to dashboard Cite

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Modeling and Contouring Control for Cantilever Beam Machine With Structural Flexibility

Yuan

2022

IEEE Access

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In biaxial contouring control applications, the inherent structural flexibility of machines can lead to position discrepancies between the manipulator and actuator, and thus deteriorate the manufacturing performance, especially when the controller is designed without available end-effector side feedback. In this work, we focus on the end-effector contouring control problem for industrial machines with position-dependent flexibility to improve the contouring performance while eliminating the effect of mechanical vibration. A model for the widely used cantilever beam machine is developed to describe the dynamics of the end-effector by capturing the rotation and coupled dynamics between axes. The proposed model is validated through experiment and systematically reduced to switched linear time-invariant models for controller design. By adopting the extended state observer, the proposed control architecture decouples the dynamics between the X and Y-axis and simplifies the controller design process. The model predictive control method is utilised for improving the contouring performance while reducing mechanical vibration. The efficacy of the proposed control framework is demonstrated and validated on the designed high-fidelity model. Performance comparisons between the proposed approach with benchmark controllers are presented.INDEX TERMS Manufacturing, contouring control, motion control, vibration and noise control.

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Modelling and Contouring Error Bounded Control of a Biaxial Industrial Gantry Machine

Cited by 2 publications

References 11 publications

Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

Modeling and Contouring Control for Cantilever Beam Machine With Structural Flexibility

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