Study On Synchronization Control Of Dual Linear Motor For Moving Gantry Machine Center

The synchronization control of dual linear motors for Moving Gantry Machine Centeris as background in this paper and it mainly resolve the problem of synchronization controlfor dual linear motors with mechanical coupling. For nonlinear interference a singlepermanent magnet linear synchronous motor is suffered during operation, a nonlinearmotion equations of a single permanent magnet linear synchronous motor wasachieve.After analysis the cause about that position outputs of dual linear motors in X-axisis not synchronized, according to the characteristics of the mechanical coupling of thegantry beams, nonlinear mathematical model of dual linear motors based on themechanical coupling is derived.The adaptive backstepping controller was designed for a single linear motor based onthe non-linear model with mechanical coupling characteristic for fast tracking performanceand immunity issues. In order to further improve the accuracy of steady state error ofsystem, Integral Backstepping controller is designed. And for the unpredictableinterference term in non-linear model, an observer based on RBF neural network isadopted to estimate amplitude of it further improving the robustness of the parameters ofservo system. Thus high-precision servo control of dual permanent magnet linearsynchronous motors for gantry machining center is achieved.In order to improve position and speed synchronization accuracy between dual linearmotors when uncertain interference appears, a synchronous control structure based on theprinciple of compensation is designed. Based on parallel synchronous control structure, afuzzy sliding mode synchronization controller is designed to decrease position and speedsynchronization error between dual linear motors. For the chatting problem exists in thesynchronization controller above, fuzzy rules is used to successively enhance switch ablegain achieving gradually to weak the chattering phenomenon under meeting condition ofsliding mode reach ability. Using Lyapunov stability theorem, adaptive rate of optimaladjustment is designed by changing the controller parameters to adapt the uncertaininterference of amplitude variable. The adaptive rate and fuzzy sliding mode control compose adaptive fuzzy sliding mode synchronization controller (AEFSMC), which useminimum control amount to achieve optimal synchronization control, ensuring stability inthe system dynamic adjustment process when uncertainties interference occurs andimproving the accuracy of dual linear motor synchronous control. Finally, MATLABSimulation software is made use of to verify feasibility of the above control options.