Synchronizing dual-drive gantry of chip mounter with LQR approach

Sungsoo Kim; Baeksuk Chu; Daehie Hong; Heung Keun Park; Jin Moo Park; Tae Yeon Cho

doi:10.1109/AIM.2003.1225451

Synchronizing dual-drive gantry of chip mounter with LQR approach

Sungsoo Kim, Baeksuk Chu, Daehie Hong, Heung Keun Park, Jin Moo Park, Tae Yeon Cho

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

34 Citations (Scopus)

Abstract

The present paper deals with the development of synchronizing controller for a dual-drive servo system that is often used for high speed and precision gantry system. The dual-drive mechanism has been used to increase the system bandwidth of precision gantry systems. This work is achieved by the evaluation of an synchronizing control with LQR scheme aimed specifically at improving synchronous accuracy in dual feed drives. The performance index for the optimal control formulation explicitly includes the synchronizing errors both in position and velocity, which is to be minimized. An assembly machine for surface mount devices is used for simulations and experiments. The system is modeled as the first order approximation and cross-coupled optimal synchronizing controller is designed. The design parameters are obtained by multi-variable frequency domain analysis. Simulations and experiments are carried about various gains and mismatched dynamics. The results show that the proposed controller reduces the synchronous error considerably, compared to the conventional uncoupled control for the dual-drive system.

Original language	English
Title of host publication	Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	838-843
Number of pages	6
ISBN (Electronic)	0780377591
DOIs	https://doi.org/10.1109/AIM.2003.1225451
Publication status	Published - 2003
Event	2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan Duration: 2003 Jul 20 → 2003 Jul 24

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2

Other

Other	2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Country/Territory	Japan
City	Kobe
Period	03/7/20 → 03/7/24

Keywords

Assembly
Bandwidth
Control systems
Error correction
Feeds
Frequency domain analysis
Frequency synchronization
Optimal control
Performance analysis
Servomechanisms

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/AIM.2003.1225451

Cite this

Kim, S., Chu, B., Hong, D., Park, H. K., Park, J. M., & Cho, T. Y. (2003). Synchronizing dual-drive gantry of chip mounter with LQR approach. In Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 (pp. 838-843). [1225451] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225451

Synchronizing dual-drive gantry of chip mounter with LQR approach. / Kim, Sungsoo; Chu, Baeksuk; Hong, Daehie et al.

Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc., 2003. p. 838-843 1225451 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, S, Chu, B, Hong, D, Park, HK, Park, JM & Cho, TY 2003, Synchronizing dual-drive gantry of chip mounter with LQR approach. in Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003., 1225451, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2, Institute of Electrical and Electronics Engineers Inc., pp. 838-843, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225451

Kim S, Chu B, Hong D, Park HK, Park JM, Cho TY. Synchronizing dual-drive gantry of chip mounter with LQR approach. In Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc. 2003. p. 838-843. 1225451. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2003.1225451

Kim, Sungsoo ; Chu, Baeksuk ; Hong, Daehie et al. / Synchronizing dual-drive gantry of chip mounter with LQR approach. Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc., 2003. pp. 838-843 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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AB - The present paper deals with the development of synchronizing controller for a dual-drive servo system that is often used for high speed and precision gantry system. The dual-drive mechanism has been used to increase the system bandwidth of precision gantry systems. This work is achieved by the evaluation of an synchronizing control with LQR scheme aimed specifically at improving synchronous accuracy in dual feed drives. The performance index for the optimal control formulation explicitly includes the synchronizing errors both in position and velocity, which is to be minimized. An assembly machine for surface mount devices is used for simulations and experiments. The system is modeled as the first order approximation and cross-coupled optimal synchronizing controller is designed. The design parameters are obtained by multi-variable frequency domain analysis. Simulations and experiments are carried about various gains and mismatched dynamics. The results show that the proposed controller reduces the synchronous error considerably, compared to the conventional uncoupled control for the dual-drive system.

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Synchronizing dual-drive gantry of chip mounter with LQR approach

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