H_∞ cross-coupled algorithm-based robust synchronous control in large dual-drive gantry stages

摘要

This paper investigates the problem of H_∞ cross-coupled algorithm-based robust synchronous control for high-precision large dual-drive gantry stages with external disturbances resulting from moving payload and parameter uncertainties. Considering movement of the payload and large parameter uncertainties, an accurate dynamic model for large dual-drive gantry stages is established based on Lagrangian dynamics. Further, an H_∞ control algorithm is suggested to attenuate the influence of external disturbances and large parameter uncertainties while a cross-coupled synchronous control algorithm is adopted to reduce synchronous errors. Lastly, numerical simulations are provided to demonstrate that the proposed method has higher tracking and synchronous control accuracy than traditional PID method.