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Mathematical Problems in Engineering
Volume 2018 (2018), Article ID 9490826, 16 pages
Research Article

Dynamic Characteristics Analysis and Test of Dual-Driving Feed System Driven by Center of Gravity

1School of Mechanical and Electronic Engineering, Wuhan University of Technology, Hubei, China
2Key Laboratory of Hubei Province for Digital Manufacture, Hubei, China
3School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Hubei, China
4School of Industrial and Engineering Technology, Southeast Missouri State University, Cape Girardeau, MO, USA

Correspondence should be addressed to Xinbao Zhang

Received 2 August 2017; Revised 10 December 2017; Accepted 31 December 2017; Published 31 January 2018

Academic Editor: Xinkai Chen

Copyright © 2018 Hong Lu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Dual-driving feed system (DDFS) driven by center of gravity (DCG) has been widely used in advanced manufacturing machine for its high rigidity and precision. However, the DCG technology requires that the joint force coincides with the center of gravity of the sliding stage. The dual-driving synchronization and tracking performance will be affected by the change of center of gravity of the sliding stage. Therefore, this paper proposes dynamic characteristics modeling, identification, and control scheme for DDFS driven by center of gravity (DCG). Firstly, a redundancy dynamic model including rotation and pitch vibration caused by the change of the position of center of gravity is presented for DDFS DCG based on the Lagrange method. The model parameters are identified by system identification experiment, and the predictive natural frequencies and vibration modes by the proposed dynamic model are compared by modal experiment. Moreover, the dynamic model-based cross-coupled sliding mode control (CCSMC) is proposed for DDFS DCG. Then, the proposed dynamic model-based CCSMC has been compared with normal cross-coupled sliding mode control (NCCSMC). Both the simulation and experimental results show that the proposed dynamic characteristics analysis and test scheme of DDFS DCG are validated effectively by comparisons.