{"title":"重载同步直驱龙门激光切割工作台耦合建模分析","authors":"Hanjun Xie, Qin-ruo Wang","doi":"10.1109/ICCR55715.2022.10053859","DOIUrl":null,"url":null,"abstract":"Aiming at the dynamic coupling problem of the dual-drive motors caused by the position change of heavy-load working head on gantry stage, this paper establishes an accurate electromechanical mathematical model for rigid-flexible coupling characteristics of the platform based on first principles. The model includes the crossbeam's linear motion and rotational motion of the non-constant moment of inertia ${J}$, and the cross-coupling force between the dual drive motors is quantified by defining the virtual centroid of the crossbeam. Finally, the effectiveness of the model is verified by the frequency response experiment of a actual system.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Coupling Modeling Analysis of Synchronous Direct-Drive Gantry Laser Cutting Stage with Heavy-Load\",\"authors\":\"Hanjun Xie, Qin-ruo Wang\",\"doi\":\"10.1109/ICCR55715.2022.10053859\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Aiming at the dynamic coupling problem of the dual-drive motors caused by the position change of heavy-load working head on gantry stage, this paper establishes an accurate electromechanical mathematical model for rigid-flexible coupling characteristics of the platform based on first principles. The model includes the crossbeam's linear motion and rotational motion of the non-constant moment of inertia ${J}$, and the cross-coupling force between the dual drive motors is quantified by defining the virtual centroid of the crossbeam. Finally, the effectiveness of the model is verified by the frequency response experiment of a actual system.\",\"PeriodicalId\":441511,\"journal\":{\"name\":\"2022 4th International Conference on Control and Robotics (ICCR)\",\"volume\":\"45 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 4th International Conference on Control and Robotics (ICCR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCR55715.2022.10053859\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 4th International Conference on Control and Robotics (ICCR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCR55715.2022.10053859","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Coupling Modeling Analysis of Synchronous Direct-Drive Gantry Laser Cutting Stage with Heavy-Load
Aiming at the dynamic coupling problem of the dual-drive motors caused by the position change of heavy-load working head on gantry stage, this paper establishes an accurate electromechanical mathematical model for rigid-flexible coupling characteristics of the platform based on first principles. The model includes the crossbeam's linear motion and rotational motion of the non-constant moment of inertia ${J}$, and the cross-coupling force between the dual drive motors is quantified by defining the virtual centroid of the crossbeam. Finally, the effectiveness of the model is verified by the frequency response experiment of a actual system.
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