Dynamical Modeling and Flatness Based Control of a Belt Drive System

Description

Belt driven systems are part of many industrial applications, like computerized numerical control (CNC) machines in particular cutting machines and 3D-printers. These systems have in common, that a rotational degree of freedom (DOF) is transformed to a translational DOF. In this paper the dynamical modeling and a flatness based controller design for belt driven systems are proposed. Due to the special kinematics, the stiffness of the belt is nonlinear, leading to nonlinear equations of motion. By neglecting some minor dynamical effects, the resulting system simplifies to a differentially flat one. This allows to calculate nominal feedforward control torques by using the flat output of the system. To stabilize the error dynamics, an additional PD control law is introduced. The proposed method is compared with a controller, where elastic deflections for the feed forward part are neglected and elastic deformations are compensated by modifying the desired trajectories in a model-based manner. The tracking performance of both methods is evaluated in certain simulations and experiments.

Period	11 Mar 2014
Event title	85th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
Event type	Conference
Location	GermanyShow on map