Dynamic robust compensation based fuzzy-coordinated low speed control of NC gantry-moving type milling machining centers

The synchrodrive is the important part in the gantry moving type milling machining centers. First, robust compensation are designed for linear servo systems with parameter variations, friction disturbance and no linearity at low speed. Then, a synchronization control strategy is presented based on fuzzy-coordinated control according to the double position synchronized drive of numerical control (NC) gantry-moving type milling machining centers. By the designed fuzzy-coordinated controller between the two synchro-driven passages, the output error between two synchro-driven systems is overcome. And the purpose of synchronization control could be realized. The simulation results show that the proposed scheme have both high synchronization accurate and strong robustness, and while low speed the demand of synchro-driven of NC machining centers can be satisfied.