Study on synchronous drive technique of biaxial linear servo motor based on decoupling control and internal model control with two-degree-of-freedom

This paper describes a decoupling control and internal model theory application on the gantries of gantry-moving high speed milling machines driven by dual permanent magnetic linear synchronous motors (PMLSM). The feedback decoupling control theory is used for restrain mechanical coupling effects, so that the moving system of the dual axes driven by two linear servo motors can be treated as two independent single input single output systems. The proposed internal model controller that is two-degree-of-freedom (2-DOF) performance adjuster based on internal model control theory can guarantee high response ability for the reference signals, high restraint ability for the model perturbations and the external disturbances.