Dynamical Modeling and Flatness Based Control of a Belt Drive System
Sprache des Vortragstitels:
Englisch
Original Tagungtitel:
85th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
Sprache des Tagungstitel:
Englisch
Original Kurzfassung:
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.
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