Design Of Control System For Bi-side Synchronous Belt Driving XY Servo Mechanism

XY servo mechanism is a common motion control system. Recently, inorder to meet the high power, long stroke, high speed, high acceleration andother production requirements, the bi-side synchronous belt driving XY servomechanism gradually plays an important part in industrial productionequipments. How to control the system effectively has become an urgent task. Inorder to give a utility control strategy, this article focused on the following threeaspects:The first one is the modeling and analysis of the system. According to theexperience, a good model helps to find main problems in the control, and it’salso the foundation of the controller design and verification. By using themechanical analysis, the math model of timing belt transmission system isestablished in this article, and an effective method to estimation the parametersis given. In addition, combining with the identified model of the servomotors, this article gives the integrity model of uniaxial flexible drive servosystems is achieved.Secondly, for the specific control problems of single axis flexible driveservo system, auto-disturbance-rejection control technology is used to improvethe classical PID controller. In this part, the tracking-differentiator is used toarranging the transient dynamics and extracting the differential signal, whichavoids the overshoot response of system and the noise amplification. In addition,the "composite extended state observer" is proposed in this article, and be usedto estimate and dynamic compensate the disturbance of the servo system in Ydirection.The third aspect is the study of the coordination control of multi motors. Afeasible cross coupling control structure is introduced to improve the efficiencyof the cooperative controller, which is based on the modification of the positioncommand, instead the classical one. Then, a Proportional regulator and a PD regulator is used to accomplish the synchronous control of two motors in thesame direction. Finally, a general method to design an multi-axial collaborativecontroller, based on the contour error transfer function is given and applied tothe system.Combining with the actual application, the main control problems of bi-sidesynchronous belt driving XY servo mechanism are studied, and thecorresponding control strategies are proposed, By the use of MATLAB, theperformance of the designed controllers is simulated, which is also helpful inengineering practice.