Cross Coupling Controller for Accurate     Motion Synchronization of Dual Servo Systems

Kosuke Ishizaki; Burak Sencer; Eiji Shamoto

doi:10.20965/ijat.2013.p0514

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IJAT Vol.7 No.5 pp. 514-522

doi: 10.20965/ijat.2013.p0514

(2013)

Paper:

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Cross Coupling Controller for Accurate Motion Synchronization of Dual Servo Systems

Kosuke Ishizaki, Burak Sencer, and Eiji Shamoto

Graduate School of Engineering, Nagoya University, Room 205, 2F, Building 2, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan

Received:

March 29, 2013

Accepted:

June 21, 2013

Published:

September 5, 2013

Keywords:

servo system, motion control, synchronization, cross coupling controller

Abstract

In order to attain higher manufacturing efficiency, “dual” (two) servo systems are widely used in advanced Computer Numerical Controlled (CNC) machine tools. A well-known example is the linear motor driven gantry type of micro machine tools where dual servos are employed to drive the heavier gantry axis. Recently, dual servos are also used in spindle systems. “Double sided milling” is an example where two spindles are required to cooperatively remove material on both sides of a workpiece. Synchronization of dual servo systems is crucial for achieving the desired manufacturing accuracy. This paper presents a crosscoupling controller to accurately synchronize dualmotor driven servo systems. Proposed cross coupling controller penalizes differential positioning error between dual servo drives by modifying the reference position and velocity commands. It improves motion synchronization without affecting the overall tracking bandwidth. A tuning method for the proposed controller is also presented for the control engineer’s practice.

Cite this article as:

K. Ishizaki, B. Sencer, and E. Shamoto, “Cross Coupling Controller for Accurate Motion Synchronization of Dual Servo Systems,” Int. J. Automation Technol., Vol.7 No.5, pp. 514-522, 2013.

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References

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[2] D. Renton, M. A. Elbestawi, “Motion Control for Linear Motor Feed Drives in Advanced Machine Tools,” Int. J. of Machine Tools and Manufacture, Vol.41, pp. 479-507, 2001.
[3] D. M. Alter and T.-C. Tsao, “Dynamic Stiffness Enhancement of Direct Linear Motor Feed Drives for Machining,” Proc. of the American Control Conf., Baltimore, MD, pp. 3303-3307, 1994.
[4] K. Erkorkmaz, J. M. Gorniak, and D. J. Gordon, “Precision Machine Tool X-Y Stage Utilizing a Planar Air Bearing Arrangement,” Annals of CIRP, Vol.59, No.1, pp. 425-428, 2010.
[5] T. Mori, T. Hiramatsu, and E. Shamoto, “Simultaneous doublesided milling of flexible plates with high accuracy and high efficiency,” Precision Engineering, Issue 35, pp. 416-423, 2010.
[6] E. Shamoto, T. Mori, K. Nishimura, T. Hiramatsu, and Y. Kurata, “Suppression of regenerative chatter vibration in simultaneous double-sided milling of flexible plates by speed difference,” CIRP Annals, Vol.59, No.2, pp. 387-390, 2010.
[7] Y. Altintas, “Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design,” Cambridge University Press, 2000.
[8] A. Rodriguez-Angeles and H. Nijmeijer, “Synchronizing tracking control for flexible joint robots via estimated state feedback,” J. of Dynamic Systems, Measurement and Control, Trans. of the ASME, Vol.126, No.1, pp. 162-172, 2005.
[9] F. Franklin, J. D. Powell, and A. Emami-Naeini, “Feedback Control Systems,” Prentice Hall, 6^th Ed., 2009.
[10] A. Sabanovic, “Variable Structure Systems With Sliding Modes in Motion Control – A Survey,” IEEE Trans. on Industrial Informatics, Vol.7, No.2, pp. 212-223, 2011.
[11] B. Sencer, T. Mori, and E. Shamoto, “A Sliding Mode Controller Design for Position Synchronization of Dual Spindle Servo Systems,” 5^th CIRP Int. Conf. on High Performance Cutting (HPC), Procedia CIRP, Vol.1, pp. 250-254, 2012.
[12] Y. Koren, “Advanced controllers for feed drives,” CIRP Annals, Vol.41, No.2, pp. 689-698, 1991.
[13] B. Sencer and Y. Altintas, “Identification of 5-Axis Machine Tools Feed Drive Systems for Contouring Simulation,” Int. J. of Automation Technologies, Vol.5, No.3, pp. 377-385, 2011.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] G. Pritschow, “A Comparison of Linear and Conventional Electromechanical Drives,” Annals of CIRP, Vol.47, No.2, pp. 541-547, 1998.

[2] [2] D. Renton, M. A. Elbestawi, “Motion Control for Linear Motor Feed Drives in Advanced Machine Tools,” Int. J. of Machine Tools and Manufacture, Vol.41, pp. 479-507, 2001.

[3] [3] D. M. Alter and T.-C. Tsao, “Dynamic Stiffness Enhancement of Direct Linear Motor Feed Drives for Machining,” Proc. of the American Control Conf., Baltimore, MD, pp. 3303-3307, 1994.

[4] [4] K. Erkorkmaz, J. M. Gorniak, and D. J. Gordon, “Precision Machine Tool X-Y Stage Utilizing a Planar Air Bearing Arrangement,” Annals of CIRP, Vol.59, No.1, pp. 425-428, 2010.

[5] [5] T. Mori, T. Hiramatsu, and E. Shamoto, “Simultaneous doublesided milling of flexible plates with high accuracy and high efficiency,” Precision Engineering, Issue 35, pp. 416-423, 2010.

[6] [6] E. Shamoto, T. Mori, K. Nishimura, T. Hiramatsu, and Y. Kurata, “Suppression of regenerative chatter vibration in simultaneous double-sided milling of flexible plates by speed difference,” CIRP Annals, Vol.59, No.2, pp. 387-390, 2010.

[7] [7] Y. Altintas, “Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design,” Cambridge University Press, 2000.

[8] [8] A. Rodriguez-Angeles and H. Nijmeijer, “Synchronizing tracking control for flexible joint robots via estimated state feedback,” J. of Dynamic Systems, Measurement and Control, Trans. of the ASME, Vol.126, No.1, pp. 162-172, 2005.

[9] [9] F. Franklin, J. D. Powell, and A. Emami-Naeini, “Feedback Control Systems,” Prentice Hall, 6^th Ed., 2009.

[10] [10] A. Sabanovic, “Variable Structure Systems With Sliding Modes in Motion Control – A Survey,” IEEE Trans. on Industrial Informatics, Vol.7, No.2, pp. 212-223, 2011.

[11] [11] B. Sencer, T. Mori, and E. Shamoto, “A Sliding Mode Controller Design for Position Synchronization of Dual Spindle Servo Systems,” 5^th CIRP Int. Conf. on High Performance Cutting (HPC), Procedia CIRP, Vol.1, pp. 250-254, 2012.

[12] [12] Y. Koren, “Advanced controllers for feed drives,” CIRP Annals, Vol.41, No.2, pp. 689-698, 1991.

[13] [13] B. Sencer and Y. Altintas, “Identification of 5-Axis Machine Tools Feed Drive Systems for Contouring Simulation,” Int. J. of Automation Technologies, Vol.5, No.3, pp. 377-385, 2011.