The Identification and Control of a Twin Linear Servo System with Mechanical Coupling

• Main Authors: Jun-Xian Yang, 楊君賢
• Other Authors: Mi-Ching Tsai
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/14513841242700212511

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 91 === The development of CNC machines has a strong trend toward performance of high speed and high precision, in that direct-drive linear motors have become an important driving actuator for the servo systems. Due to the requirement of high thrust and mechanism rigidity, the ‘Box-in-Box’ structure is gaining its advantage in which two parallel linear motors are physically coupled with a mechanism to realize one-degree movement. This thesis presents the controller design of a servo system formed by two parallel linear motors with a saddle striding that couples these two servomotors. To control the mechanically coupling system, a system identification method is first adopted to obtain the dynamic model of the controlled multivariable system and then a control scheme for two objectives is proposed for high-speed synchronous control, The synchronous controller is designed and implemented in real-time using a DSP-based control platform, The results exhibit that the demands of high speed and high precision can be effectively achieved.