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In gantry systems, load usually moves according to different production tasks. The continuous change of the beam centroid position is a non-negligible factor for achieving high-performance synchronous control. Therefore, it cannot be simply treated as an external disturbance. In addition, advanced controller design and model parameter identification are very important for precision motion control systems. This article addresses the synchronous control of dual-drive gantry platforms with load movement to improve their steady-state and transient performance. Based on the analysis of the rigid and flexible characteristics of gantry mechanical components, a rigid-flexible coupling dynamic model is proposed, which provides a theoretical basis for the control system design. To ensure zero steady-state tracking error and parameter convergence in the presence of parameter uncertainties and unknown disturbances, a composite adaptive control method integrating excellent output tracking performance and parameter estimation is presented. Furthermore, the bridge between load movement and centroid position is established through frequency domain identification, which facilitates reasonable thrust distribution. Comparative experimental results are presented that confirm the effectiveness and advantages of the proposed synchronous control scheme.

Composite Adaptive Synchronous Control of Dual-Drive Gantry Stage With Load Movement