Paper Info
Title
Two-Degree-Of-Freedom Dynamic Model-Based Terminal Sliding Mode Control with Observer for Dual-Driving Feed Stage.
Abstract
The position synchronous control of multi-axis gantry-type feed stage is crucial in precision machine tools. Industrial position control which aims to widen the bandwidth and improve disturbance rejection of single axis is not enough to achieve precise synchronization in a dual-driving feed stage. The characteristics diversity, transmission-mechanism deformation, and mechanical coupling effect between dual axes will degrade the control accuracy. Hence, the novel two-degree-of-freedom (2-DOF) dynamic model-based terminal sliding mode control (TSMC) with disturbance and state observer is proposed in this paper for the synchronous control of a 2-DOF dual-driving feed stage. The 2-DOF dynamic model, based on Lagrange equation, is established along with the parameters identification method. The predictive natural frequencies and vibration modes frequencies by the proposed dynamic model are compared by a modal experiment. Then, the 2-DOF dynamic model-based TSMC is provided to satisfy the tracking and synchronization control. In order to reduce the chattering and to increase the robustness against the mechanical coupling, the disturbance and state observer is designed. Moreover, Lyapunov stability criterion is used to analyze the stability of the proposed control scheme. Finally, an industrial application of 2-DOF dual-driving feed stage is utilized to validate the effectiveness of the proposed control scheme. The proposed 2-DOF dynamic model-based TSMC with observer has been effectively demonstrated to improve synchronous performance and tracking accuracy.
Year
DOI
Venue
2018
10.3390/sym10100488
SYMMETRY-BASEL
Keywords
Field
DocType
two-degree-of-freedom dual-driving feed stage,dynamic model,synchronous control,terminal sliding mode control,disturbance observer
Degrees of freedom (statistics),Mathematical analysis,Control theory,Terminal sliding mode,Observer (quantum physics),Mathematics
Journal
Volume
Issue
ISSN
10
10.0
2073-8994
Citations 
PageRank 
References 
1
0.43
4
Authors
6
Name
Order
Citations
PageRank
Wei Fan14205253.58
Hong Lu223.50
Xinbao Zhang311.11
Yongquan Zhang4334.29
Rong Zeng52510.40
Qi Liu681.88