Dynamical Modeling and Flatness Based Control of a Belt Drive System

Belt driven systems are part of many industrial applications, like computerized numerical control (CNC) machines in ular cutting machines and 3D-printers. In this paper the dynamical modeling and a flatness based controller design f driven systems are proposed. Due to the special kinematics, the stiffness of the belt is nonlinear, leading to nonlinear tions of motion. By neglecting some minor dynamical effects, the resulting system simplifies to a differentially flat on allows to calculate nominal feed-forward control torques by using the flat output of the system. To stabilize the error d ics, an additional PD control law is introduced. The proposed method is compared with a controller, where elastic defle for the feed forward part are neglected and elastic deformations are compensated by modifying the desired trajectori model-based manner. The tracking performance of both methods is evaluated in certain simulations and experiments.