Real-Time Compensation Super-Twisting Sliding-Mode Control for Integrated Control of Dual-Linear-Motor-Driven Gantries

Synchronization control and coordination control are the core issues of dual-linear-motor-driven gantries (DLMDG). This paper proposes a novel integrated realtime compensation super-twisting sliding-mode control (RCSTSMC) framework that aims to simultaneously improve the contouring accuracy and synchronization performance of DLMDG for highly repetitive tracking tasks. The established control scheme combines the fast convergence and immunity to disturbance of the higher order sliding mode and the advantage of model-based realtime compensation. The results of the simulation confirm the superiority of the RCSTSMC. Compared to the ARC, the RCSTSMC has improved synchronization performance and contouring performance by 72.43 % and 69.11 % respectively, and the maximum synchronization and contouring errors have been reduced by 5.19 μrad and 0.96 μm.