Modeling and control of a belt-drive positioning table

Belt-drive positioning tables are widely used in industries because of their low cost and high-speed capability but they tend to have low precision due to belt flexibility. This paper presents a study on how to obtain reliable models of such tables and achieve precise position tracking during high-speed high-acceleration motion. A dynamic model was identified and several related issues examined. A model-based tracking control design was used to compensate for table inertia and friction. A new technique is proposed for tuning the feedback gains of the control system for optimal performance. The tracking controller is implemented on an industrial high-speed belt-drive table, with excellent results obtained.