The Research Of Dual Linear Motor Synchronous Control

Based on the National Natural Science Foundation project named "Theory of Dynamic Precision Synchronization Traverse and Research of Realization Methods for Linear Servo Dual Position Loops System(No.50075057)" and considered the characters of the controlled object, the control strategies for reducing the synchronous error of dual linear motor are represented from two angles.In the strategy which synchronous error is considered as given value of fuzzy self-adaptive PID controller, the controller is placed in the feedback channel between the two motors. Since the fuzzy reasoning rules of fuzzy adaptive PID controller represented in this paper are based on the previously set rules tables, the complicated algorithm isn't required and the calculating speed of controller is high. The high-speed requirement of controlled object can be met. The simulation result prove that the proposed system has strong robustness and good rapidity, and dynamical synchronous error is small. So this control method can satisfied the demand of the controlled subject for the high precision synchronous control.In the strategy based on disturbance compensation, disturbance Observer is used in dual linear servo motors feeding drifts of gantry-moving type boring-milling machining centers to limit the asynchronization caused by the parameters variation and outer torques. Hence, the rapidity of synchronization is increased. The results of simulation test indicate that the proposed system has strong robustness and good rapidity, and dynamical synchronous error is small. So this control method can satisfied the demand of the controlled subject for the high precision synchronous control.Besides, load dynamic compensation of bridging drift is proceeded to decrease disturbance to feeding drifts. And combined with above two control strategies, the synchronization can be achieved better.