Control Design and Implementation of the Dual-Drive Gantry System

Wei An Chen, Chi Yu Chung, Ming Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper aims to study the different control methods and implementation of the dual-drive gantry control system. In this paper, the Euler-Lagrange method is used to derive the mathematical dynamic model of the system. The derived dynamic model is then linearized and decoupled for the control design. Simulink is used to conduct simulation studies of the designed control systems. In the mechanism design of the dual-drive gantry system, the system can be easily converted into a soft connection or a rigid connection enabling us to study the effects between these two structures. The control laws are implemented in the experiments through a digital signal processor. The decoupling control and parallel control methods are used to control the dual-drive gantry system with a load placed in different positions. The performance comparison of different control methods is made. Finally, it is shown that the proposed decoupling control method can reduce the load disturbance. Moreover, the proposed decoupling control method has a lower tracking error when the system is in the soft connection.

Original languageEnglish
Title of host publication2023 International Automatic Control Conference, CACS 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350306354
DOIs
Publication statusPublished - 2023
Event2023 International Automatic Control Conference, CACS 2023 - Penghu, Taiwan
Duration: 2023 Oct 262023 Oct 29

Publication series

Name2023 International Automatic Control Conference, CACS 2023

Conference

Conference2023 International Automatic Control Conference, CACS 2023
Country/TerritoryTaiwan
CityPenghu
Period23-10-2623-10-29

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering
  • Control and Optimization

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