Gantry Synchronization With Online Inertia Matching
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Solution Overview
Problem
Conventional gantry mechanisms in sliding double-column machine tools face issues with uneven inertia loading distribution as the saddle moves along the X-axis crossbeam, leading to unacceptable position differences and potential damage due to mismatched output torques and accelerations of the drive motors.
Innovation Solution
A method for synchronous control of the gantry mechanism with online inertia matching, which involves obtaining gantry-mechanism information, detecting the saddle's position, evaluating load-inertia variations, and adjusting torque-output information for the drive motors to match inertia loading, thereby compensating for uneven support and maintaining position control within acceptable ranges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the saddle is positioned at the middle position of the X-axis crossbeam, then the two rails can equally share load inertia and position difference can be controlled within acceptable deviation range, but when the saddle moves to a side position, the inertia loading distribution varies and position difference becomes unacceptable
Solution Approach 1:
The patent applies dynamics by making the inertia-ratio parameters of the drive motors dynamically adjustable rather than fixed. The control device continuously monitors the saddle position and recalculates the optimal inertia-ratio parameters in real-time, allowing the system to adapt to varying inertia loading distributions as the saddle moves along the crossbeam, thereby maintaining position synchronization between the two rails throughout the entire travel range.
Solution Approach 2:
The patent implements parameter changes by modifying the inertia-ratio parameters of the drive motors based on the saddle's position. The control device calculates the actual inertia loading on each rail according to the saddle position and adjusts the motor parameters accordingly, transforming the system from a static parameter configuration to a dynamic one that maintains optimal performance across different operating conditions.
2Manufacturing precision
If fixed inertia-ratio parameters are used for the drive motors, then the system structure remains simple, but output torques and accelerations cannot match the variation of practical load-inertia, leading to unacceptable position difference
Solution Approach 1:
The patent employs feedback by implementing a closed-loop control system where the control device continuously monitors the saddle position, calculates the actual inertia loading distribution, and adjusts the drive motor parameters accordingly. This feedback mechanism enables the system to automatically compensate for inertia variations without requiring complex mechanical modifications, maintaining position precision while managing control complexity through software-based adaptation.
Solution Approach 2:
The patent applies preliminary action by pre-calculating and storing the relationship between saddle position and optimal inertia-ratio parameters. The control device uses the detected saddle position to quickly retrieve or compute the appropriate parameters before executing the motion, ensuring that the torque and acceleration commands are optimized in advance for the current loading condition, thereby maintaining position accuracy without excessive computational delay.
Data Source
AI summary
A method for synchronous control of a gantry mechanism with online inertia matching is applicable to a machine tool equipped with a gantry mechanism. The gantry mechanism includes two rails, a crossbeam and a saddle, in which the saddle is disposed on the crossbeam, and the crossbeam is disposed by crossing the two rails. Each of the two rails is furnished with a driving apparatus for synchronously driving the crossbeam, and the driving apparatus includes a drive motor and a lead screw. This method includes the steps of: obtaining gantry-mechanism information; detecting position information of the saddle on the crossbeam; evaluating the position information and the gantry-mechanism information to derive load-inertia variety information; and, evaluating the load-inertia variety information to adjust torque-output information of the drive motor corresponding to the respective driving apparatus.