Control Design and Implementation of the Dual-Drive Gantry System

This paper aims to study the different control methods and implementation of the dual-drive gantry control system. In this paper, the Euler-Lagrange method is used to derive the mathematical dynamic model of the system. The derived dynamic model is then linearized and decoupled for the control design. Simulink is used to conduct simulation studies of the designed control systems. In the mechanism design of the dual-drive gantry system, the system can be easily converted into a soft connection or a rigid connection enabling us to study the effects between these two structures. The control laws are implemented in the experiments through a digital signal processor. The decoupling control and parallel control methods are used to control the dual-drive gantry system with a load placed in different positions. The performance comparison of different control methods is made. Finally, it is shown that the proposed decoupling control method can reduce the load disturbance. Moreover, the proposed decoupling control method has a lower tracking error when the system is in the soft connection.