Tracking control for a synchronized dual parallel linear motor machine tool

Abstract

This paper analyses and compares several different synchronized controllers and motion command schemes, and implements them using a PC-based gantry-type machine tool. First, an integral-proportional (IP) controller and a proportional controller are applied to the velocity and position loop of a single-axis system respectively. The tracking control accuracy of the motor is advanced by the fastened response and improved lag. Next, for the dual-axis synchronized system, the equation of the cross-coupled controller (CCC) parameters can be acquired by analysing the tracking error and the synchronized error of the dual linear motors. The equation can be further applied to integrate the synchronized motion and reduce the synchronized error. The experiment results have proved these theories to be successful in reducing synchronized error and realizing the performance demand of tracking control.