Synchronous Control of Gantry Moving Type Boring-Milling Machining Centers Based-on Disturbance Observer

For gantry-moving type boring-milling machining centers, although the two sides pillars of the gantry have the same drive mechanisms, the synchronous error between two drifts of the dual linear motor is still generated by non-balanced forces adding to the cross rail, blade carrier and other moving parts, position variation of blade carrier and various uncertainty disturbances during the working process. The synchronous error causes mechanical coupling and makes the synchronous movement of the two pillars difficult. For this, the disturbance observer is designed in dual linear motor X-drifts of gantry-moving type boring-milling machining to limit the asynchronization caused by the parameters variation and external torques in this paper. Besides, load dynamic compensation of Y-drift is applied to decrease disturbance to X-drifts. The simulation results indicate that the proposed scheme has stronger robustness and better rapidity, and smaller dynamical synchronous error. So the control method can meet the demand of the controlled plant in the high precision synchronous control