Coupling Modeling Analysis of Synchronous Direct-Drive Gantry Laser Cutting Stage with Heavy-Load

Abstract

Aiming at the dynamic coupling problem of the dual-drive motors caused by the position change of heavy-load working head on gantry stage, this paper establishes an accurate electromechanical mathematical model for rigid-flexible coupling characteristics of the platform based on first principles. The model includes the crossbeam's linear motion and rotational motion of the non-constant moment of inertia ${J}$, and the cross-coupling force between the dual drive motors is quantified by defining the virtual centroid of the crossbeam. Finally, the effectiveness of the model is verified by the frequency response experiment of a actual system.