NDLI: Synchronizing dual-drive gantry of chip mounter with LQR approach

Content Provider	IEEE Xplore Digital Library
Author	Sungsoo Kim Baeksuk Chu Daehie Hong Heung-Keun Park Jin-Moo Park Tae-Yeon Cho
Copyright Year	2003
Description	Author affiliation: Dept. of Mech. Eng., Korea Univ., Seoul, South Korea (Sungsoo Kim; Baeksuk Chu; Daehie Hong; Heung-Keun Park; Jin-Moo Park)
Abstract	The present paper deals with the development of synchronizing controller for a dual-drive servo system that is often used for high speed and precision gantry system. The dual-drive mechanism has been used to increase the system bandwidth of precision gantry systems. This work is achieved by the evaluation of an synchronizing control with LQR scheme aimed specifically at improving synchronous accuracy in dual feed drives. The performance index for the optimal control formulation explicitly includes the synchronizing errors both in position and velocity, which is to be minimized. An assembly machine for surface mount devices is used for simulations and experiments. The system is modeled as the first order approximation and cross-coupled optimal synchronizing controller is designed. The design parameters are obtained by multi-variable frequency domain analysis. Simulations and experiments are carried about various gains and mismatched dynamics. The results show that the proposed controller reduces the synchronous error considerably, compared to the conventional uncoupled control for the dual-drive system.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	838
Ending Page	843
File Size	520730
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225451
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Frequency synchronization Control systems Optimal control Error correction Servomechanisms Bandwidth Feeds Performance analysis Assembly Frequency domain analysis
Content Type	Text
Resource Type	Article

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