Research on H∞. Robust Controller of Dual Linear Motors in Gantry-Moving Milling Machine Based on Velocity Compensation

The synchronous problem of dual linear motors synchronous drive for high-speed gantry-moving milling machine is studied in this paper. A H - cross-coupled state feedback controller with robust performance is presented in this paper, to compensate and control velocity loops, which can rapidly restore synchronous state under the condition of unbalanced loads or different disturbances. The results of simulation indicate that the proposed scheme has strong robustness and synchronous error is maintained within a tolerable limit during dynamic process.