LPV Modeling and Gain Scheduling H Infinity Control of Ball Screw with Varying Dynamics

Ball screw drive (BSD) is a precision transmission mechanism widely used in high-precision positioning or tracking system. The dynamic behavior of BSD varies with position and load, which causes tracking errors and poor robustness. Therefore, this paper proposes a polytopic linear parameter varying (LPV) model to express the varying dynamic behavior of BSD. Based on the polytopic LPV model, an LPV gain schedule (GS) H infinity controller is proposed for the BSD with varying dynamics. Finally, simulation experiments of trajectory tracking comparison are conducted. The results demonstrate that the proposed polytopic LPV modeling and GS H infinity control are effective in achieving accurate trajectory tracking and excellent robustness.