A position control algorithm for a belt-driven servomechanism of a laser-cutting machine is described. High-accuracy position tracking control procedure for the system with inherent elasticity due to the low-cost belt-driven servomechanism is derived using sliding mode motion control strategy and Lyapunov design. The control design results in continuos sliding mode control law. It possesses all the good properties of the robust sliding mode and avoids the unnecessary discontinuity of the control input, thus eliminating chattering. The proposed robust position tracking control algorithm is used in an industrial application of a biaxial motion controller for the CNC laser-cutting machine. Experimental results are reported.
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