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The paper deals with a linear belt-driven servomechanism. It proposes new position tracking control algorithm that has been designed by sliding mode control theory. The selected sliding manifold was extended by non-rigid modes of the elastic servodrive. However, the proposed control scheme retains simple and practical for implementation. The experi...
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Citations
... For example, a toothed 2 of 11 belt (i.e., timing belt), driven by a rotational motor through a pulley, can be used to power a translational load [8]. However, the elasticity and compliance in a toothed belt drive affects the accuracy of positioning and may cause vibration, and thus requires special techniques for motion control [9,10]. Lead screws and ball screws are also used extensively in linear drives [11,12]. ...
Obtaining powered linear movement over a long range of motion is a common yet challenging task, as the majority of linear actuators have limited ranges of motion as determined by their functioning mechanisms. In this paper, the authors present a novel belt-based self-actuated linear drive (B-SALD), in which a self-powered moving platform slides on a slotted track with essentially unlimited range of motion (only limited by the length of the track). Unlike the traditional rack-and-pinion mechanism, the B-SALD system uses a double-sided timing belt as the power-transmitting element. With the teeth on its inner surface, the belt interacts with a timing pulley for its own circulation; with the teeth on its outer surface, the belt interacts with a linear rail with parallel slots and drives the translation of the moving platform. The unique functioning mechanism generates multiple distinct advantages: no lubrication is required; the slotted track is simple and inexpensive to manufacture; and it provides an inherent compliance to buffer shock loading. With the experiments conducted on a preliminary prototype, it has been demonstrated that the B-SALD is able to provide accurate positioning and continuous motion control, an overall mechanical efficiency of 70% over the majority of the load range, and the capability of generating large force output in the desired manner.
... Problems associated with precision control of such systems, have gained the focus of the researchers over the last decades. In [2][3][4][5][6][7], control algorithms achieved vibration suppression and improved servo performance under system uncertainties. ...
... Thus, it cannot provide the high dynamic performances as required by variable speed regulation of belt conveyor, when the system variables have changed or environment disturbances have occurred. Adaptive fuzzy control [8], sliding mode control [2][3][4][5] as well as disturbance observer techniques [9] have been utilized to improve performance. Also, neuro-fuzzy and genetic algorithms have been proposed in [10][11][12] in order to improve the PID control strategy. ...
... Over the past years, many techniques were developed for position control in XY tables. Linear Quadratic Gaussian (LQG) and Proportional and Derivative (PD) are proposed in [4] for a robust response, Sliding Mode Control (SMC) is introduced in [5] for nonlinear systems and neural adaptive controllers in [6]. Nevertheless, the PID controller is still the most common control structure, found in the majority of industrial setups [7]. ...
This paper is about modeling and control of a XY positioning table. It is described the construction and instrumentation of a double axis positioning system. It is developed a general electromechanical model, followed by the identification of simplified models for control purposes. At last, it is proposed a PID control strategy, tuned by Internal Model Control (IMC) technique.
... Even though the linear tooth belt drive has many drawbacks in [1] tooth belt drives are used in a high-precision laser cutting application, which shows that with proper control design a linear tooth belt system can be applied to a demanding linear applications as well. High performance of linear tooth belt drives requires that the system disturbances, parameter variations and uncertain dynamics [2] must be considered in the robust control design [3], [4] or compensated [5], [6] in order to guarantee accurate positioning. As the performance plays an important role in these applications, the increasing demand for high reliability significantly contributes Manuscript received X, 2014; Accepted X 2015. ...
... Thus, in the model the driven end and the moving cart dynamics dominate in the system. Therefore, the free end dynamics can be neglected [3][4][5], which simplifies the system model to a two-mass system. Differential equations, without friction terms, for the two-mass model of the linear tooth belt axis can be defined as follows [3] ), ...
... Therefore, the free end dynamics can be neglected [3][4][5], which simplifies the system model to a two-mass system. Differential equations, without friction terms, for the two-mass model of the linear tooth belt axis can be defined as follows [3] ), ...
Many control schemes rely on an analytical model of the servomechanism to be controlled, and hence accurate knowledge about the position and time dependent parameter variability becomes crucial in many contexts, such as robust control methods. Although a properly designed robust controller can cope with a large parameter variation, real-time identificationof the system parameter behavior could lead to several
advantages by means of monitoring the varying dynamics e.g. the pre-determined uncertainty region around the nominal value. This paper addresses issues in on-line parameter estimation of a linear tooth belt-drive with a limited stroke. Particular attention is paid to detecting the position dependent changes in the system
dynamics by using recursive least squares algorithm and exciting the system in different cart positions in order to identify the varying dynamics. The algorithm used is based on an indirect output-error identification scheme. The experimentally estimated parameters are compared with the corresponding two-mass
model parameters. The results show an acceptable agreement and demonstrate the feasibility of the estimation method to estimate the parameters of a closed loop controlled servomechanism with a
limited stroke and time varying parameters.
... The discontinuous term can be selected as small in order to avoid chattering. It had been proven [14,15] that in the discrete time implementation the sliding mode is guarantied with continuous control action. We are targeting the computer controller systems for which controller will be implemented in discrete-time so in our application the discontinuous term will be omitted and we will be determining the control action that ...
... The weights will change as long as condition (6) is not satisfied. Both (15) and (16) depend on the plant gain matrix and the selected sliding mode manifold (2). ...
In this paper, a method that allows for the merger of the good features of sliding-mode control and neural network (NN) design is presented. Design is performed by applying an NN to minimize the cost function that is selected to depend on the distance from the sliding-mode manifold, thus providing that the NN controller enforces sliding-mode motion in a closed-loop system. It has been proven that the selected cost function has no local minima in controller parameter space, so under certain conditions, selection of the NN weights guarantees that the global minimum is reached, and then the sliding-mode conditions are satisfied; thus, closed-loop motion is robust against parameter changes and disturbances. For controller design, the system states and the nominal value of the control input matrix are used. The design for both multiple-input-multiple-output and single-input-single-output systems is discussed. Due to the structure of the (M)ADALINE network used in control calculation, the proposed algorithm can also be interpreted as a sliding-mode-based control parameter adaptation scheme. The controller performance is verified by experimental results
... Tooth belt linear drives are studied by Hace et al. in (1998Hace et al. in ( ), (2001Hace et al. in ( ), (2004Hace et al. in ( ) and (2005. Hace et al. designed a sliding mode controller, a vibration controller, and vibration observer for a linear tooth belt drive. ...
... A mathematical model of the tooth belt linear axes is introduced in (Hace et al. 2004). It consists of a timing belt, two pulleys, a gearbox, and a load. ...
... Frictions are considered as unknown disturbances. The model of the tooth belt linear axes that Hace et al. (2004) proposed is ...
Many manufacturing processes depend on accurate multi-axis movements. Development of drive technology has replaced the need of mechanical couplings and cams in synchronized manufacturing operations. In this paper motion synchronization of a biaxial linear tooth-belt drive is studied and, especially, the effects of the data communication's speed between the control system components on the motion synchronization successfulness is analyzed.
