Research And Application Of Bilateral Driven Synchronized Motion Control Based On PMAC Motion Control Card

With the development of electronics manufacturing technology, the speed and accuracy requirements are of the increasingly high, but the traditional side driver can not provide enough acceleration. Because of the good performance and the cheap price of the ball screw, dual servo system which species to be introduced in the form of bilateral drive, and was spread rapidly, however, external disturbances of the two axis are different when the bilateral drive is working, so the force on both sides are not symmetry, two-axis movement can not keep pace, it will produce a certain inertia impact on system performance. Therefore, select a appropriate synchronized motion control methods, to ensure a high degree of synchronization of two axes is something that must be addressed. So, in this paper we build up the model of the bilateral drive and took some research on the synchronized motion control algorithms, then made some experiment to prove them. The main research work are as follows:(1) Built up he mathematical model of single-axis ball screws, then ignored the friction and viscous torque coefficients to simplify the model, based on a simplified model the coupling model was established considering the role of the middle axis coupling rod, the equation of state was found.(2) Describes the transmission of the PID control algorithm and feedforward compensation control theory, combined the feedforward with PID, simulations prove that this method can guarantee single-axis motion control accuracy. Then, added the cross-coupled control thought into the same coordinate system, a new motion control block diagram of the cross-coupling part of the algorithm is studied, got the transfer function of this part.(3) Introduced the applications of the bilateral driven in the Dispensing Module of the RFID equipment and found the way to realize the above control algorithm based on the PMAC then made experiments, the experimental process and experimental datas were given in details, and the datas were compared. Using the control method of inquiry, the synchronization error fluctuates between -5 to +5 CTS about±12μm, achieved a good synchronization precision.