Nonlinear contol of a belt driven two-axis positioning system

Document Type

Conference Proceeding

Date of Original Version



XY-positioning is an important task in industrial applications. The improvement of the speed of positioning while keeping good accuracy can increase productivity and is therefore highly desirable. The studied H-frame system is a parallel XY-positioning device that uses a timing belt to transmit motion from two stationary motors. As a result, the system is capable of fast acceleration due to lower number of moving parts. However, the flexibility of the timing belts poses a problem when trying to move the positioning system at high speed. A dynamic model of the H-Frame system that accounts for the non-linear friction present in the system was developed and verified experimentally. This model was further used in simulation to develop a controller for the system. A collocated PD controller with friction compensation was designed and implemented experimentally on the system. Furthermore, results of the previous controller were compared to an adaptive PD controller. The adaptation algorithm involves changing the controller gains as a function of the tracking error without sacrificing the stability of the system. It was found that the adaptive PD controller is more suitable for positioning applications. Copyright © 2008 by ASME.

Publication Title, e.g., Journal

ASME International Mechanical Engineering Congress and Exposition, Proceedings