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Symmetry 2018, 10(10), 488; https://doi.org/10.3390/sym10100488

Two-Degree-Of-Freedom Dynamic Model-Based Terminal Sliding Mode Control with Observer for Dual-Driving Feed Stage

1
School of Engineering, Huazhong Agricultural University, Wuhan 430070, China
2
School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China
3
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430070, China
4
Department of Mechanical Engineering, School of Engineering, University of Birmingham, Birmingham B15 2TT, UK
*
Author to whom correspondence should be addressed.
Received: 24 August 2018 / Revised: 2 October 2018 / Accepted: 9 October 2018 / Published: 12 October 2018
(This article belongs to the Special Issue Emerging Data Hiding Systems in Image Communications)
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Abstract

The position synchronous control of multi-axis gantry-type feed stage is crucial in precision machine tools. Industrial position control which aims to widen the bandwidth and improve disturbance rejection of single axis is not enough to achieve precise synchronization in a dual-driving feed stage. The characteristics diversity, transmission-mechanism deformation, and mechanical coupling effect between dual axes will degrade the control accuracy. Hence, the novel two-degree-of-freedom (2-DOF) dynamic model-based terminal sliding mode control (TSMC) with disturbance and state observer is proposed in this paper for the synchronous control of a 2-DOF dual-driving feed stage. The 2-DOF dynamic model, based on Lagrange equation, is established along with the parameters identification method. The predictive natural frequencies and vibration modes frequencies by the proposed dynamic model are compared by a modal experiment. Then, the 2-DOF dynamic model-based TSMC is provided to satisfy the tracking and synchronization control. In order to reduce the chattering and to increase the robustness against the mechanical coupling, the disturbance and state observer is designed. Moreover, Lyapunov stability criterion is used to analyze the stability of the proposed control scheme. Finally, an industrial application of 2-DOF dual-driving feed stage is utilized to validate the effectiveness of the proposed control scheme. The proposed 2-DOF dynamic model-based TSMC with observer has been effectively demonstrated to improve synchronous performance and tracking accuracy. View Full-Text
Keywords: two-degree-of-freedom dual-driving feed stage; dynamic model; synchronous control; terminal sliding mode control; disturbance observer two-degree-of-freedom dual-driving feed stage; dynamic model; synchronous control; terminal sliding mode control; disturbance observer
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Fan, W.; Lu, H.; Zhang, X.; Zhang, Y.; Zeng, R.; Liu, Q. Two-Degree-Of-Freedom Dynamic Model-Based Terminal Sliding Mode Control with Observer for Dual-Driving Feed Stage. Symmetry 2018, 10, 488.

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