Research of SMT Mounter Z-axis Integral Terminal Sliding Mode Tracking Control

The mounting head of the SMT mounter is the most core part of the entire SMT mounter, and the change in load at the end of the Z-axis of the mounting head affects the work efficiency of the entire machine. In this paper, the mathematical model of Z-axis drive system is established firstly. Secondly, a new type of integral terminal sliding mode surface was designed, and the approximation characteristics of neural networks were utilized to approximate modeling errors and external disturbances, avoiding chattering in controller. The stability of the system was demonstrated through Lyapunov theorem. Finally, the validity of the proposed measures was verified through simul-ation analysis, enabling the Z-axis of the mounting head to accurately reach the required position throughout the entire control phase.