Abstract:

Load disturbance, external disturbances, difference in the installation of the two motors and the mechanical coupling affect single axis tracking precision and produce synchronous error for linear motors-drive type H table in the processing parts. Aiming at this problem, a lagrangian equation dynamic model for type H table is derived. Then, the improved nonsingular terminal sliding mode control (NTSMC) is adopted for single axis to design position controller. The system not only has strong robustness but also weaken the effects of chattering and improves tracking precision of the single axis. Then, between the two axis using type Sugeno fuzzy neural network (SFNN) compensation controller to dynamic compensate synchronous error of the type H table. Through fuzzy neural network can approximate arbitrary precision of nonlinear system to make the synchronous error tend to be zero in limited time for meeting high precision machining of the H tables. Simulation results show that the designed control system made the type H table possess high synchronous control precision and robustness.

Key words: Type H table, nonsingular terminal sliding mode control, Sugeno type fuzzy neural network compensator, load disturbance