A Literature Review on

Synchronization between
dual servomotor using
cross coupled
sliding mode control
Guided By,
Prof. M. C. Patel

Prepared By,
Bharat R Vala
Enroll: 130280703017

Overview:
Servomotor:

A servomotor is a rotary actuator that allows for precise control of

angular position, velocity and acceleration.
A servo system mainly consists of three basic components - a
controlled device, a output sensor, a feedback system.
This is an automatic closed loop control system.
Controlling a device by applying variable input signal, the device
is controlled by a feedback signal generated by comparing output
signal and reference input signal.

Servo motor block diagram

 Applications of servo motor

CNC machine
Robotics
Conveyors
Camera auto focus
Robotic vehicle
Solar tracking system
Other industrial application

 Sliding mode control:

sliding mode control, or SMC, is a nonlinear control method.

Its application of a discontinuous control signal that forces the

system to "slide" along a cross-section of the system's normal
behaviour.
This cross section is a sliding surface.

 Sliding mode control (SMC) is basically a high-speed switching

feedback control.
a sliding motion can be divided into two phases: a reaching phase
and a sliding phase.
The main advantage of sliding mode control to achieve order
reduction, decoupling design procedure, disturbance rejection,
insensitivity to parameter variations and simple implementation.

Paper 1: Shilong Wang ; Liang Huang ; Jie Zhou ; Ling Kang,

"A Linear PI Cross-Coupled Control for Servo System of CNC
Gear Hobbing Machine", IEEE International Conference on
Information and Automation (ICIA), 2010, pp.987-991
Cross-couple control with
proportional-integral
(PI)
compensator proposed to
reduce
synchronization
error.
Recently one of the popular
multi-axis control scheme as
cross-coupled control, was
proposed by Koren in 1980.

 Main two kind of synchronization control method proposed for

CNC control system are, Set-point synchronization and feedback
synchronization.
In Set-point synchronization method, the speed command of
following axis is given by the speed command of leading axis
multiplied by a factor.

Set-point synchronization method

 In feedback synchronization method, the speed command of

following axis is produced by the actual speed of leading axis
multiplied by a factor.

Feedback synchronization method

 In this figure proposed a PI cross-coupled control scheme for dual

servo system.
the synchronization error is calculated and used as a input to
proposed controller, whose output used as a compensation of both
axis.

PI cross-coupled control

 Limitations
P-I controller has some disadvantages such as: the high starting
overshoot, sensitivity to controller gains and sluggish response
due to sudden disturbance.

Paper 2: O-Shin Kwon, Seung-Hoe Choe and Hoon Heo, "A

study on the dual-servo system using improved cross-coupling
control method ", 10th International Conference on
Environment and Electrical Engineering (EEEIC), pp. 1-4, 2011
In this paper cascade control and an improved cross-coupling
control method proposed over Conventional synchronizing
control.
The improved cross-coupling control method performs in terms of
angular position for high speed and accurate position control.

 Two types of conventional control system widely used in servo

control system, First one is series connection or Master-Slaved
motion control and another one is parallel connection or MainMain control.
The control goal is to
achieve synchronous
error between two
servo motor and
accurate
position
control to desire slide
position.

 The conventional control system is shown in previous figure. It

shown with feedback loop and synchronization loop.

In these scheme the feedback loop is required for accurate position

control and the cross coupling controller is used for the reduction
of synchronous error between two servo motors.

Modified control system for Cross-coupling of angular position and velocity

 The proposed controller with cascade loop and an improved

cross-coupling control method.

Limitations
In this paper proposed controller is applied for series (Masterslave) servo system. Whenever we work with dual side motion
tracking and position accuracy control in cross-coupled dual
servo system to designing of PID controller is being very
complicated to system.

Paper 3 : Alessandro Pisano, Alejandro Davila, Leonid Fridman

and Elio Usai, "Cascade Control of PM DC Drives Via SecondOrder Sliding-Mode Technique," IEEE TRANSACTIONS ON
INDUSTRIAL ELECTRONICS, VOL. 55, NO. 11,
NOVEMBER 2008
In this paper they discussed about a novel scheme for the
speed/position control of permanent-magnet (PM) dc motor drive
and suggested control algorithm is cascade-control scheme based
on sliding mode control.
They have also discussed about adaptive and H control, VSC
(variable structure control ) , features of VSC, but all controllers
are not suitable to achieve precision, robustness, simplicity and
finite time conversation.
H

 In this case sliding mode control achieve better output to

optimization control scheme.
The implemented controller is cascade implementation of sliding
mode controller. Its proved that cascade sliding mode control gives
better performance over cascade PI controller. So its also
applicable on dual servo synchronization technique.

Paper 4: Variable-Gain Cross-Coupling Controller for

Contouring
Contouring is the most complex flexible and the most expensive
type of machine tool control.
In addition the distinguishing feature of the of contouring NC
system is their capacity for simultaneously control of more than
one axis.
Milling and Turning are the common examples of the use of
contouring control.

The variable-gain cross-coupling controller.

The variable-gain cross-coupling

Maximum Control Error (in m)

Contour type

Conventional
controller
(P-Controller)

Cross-Coupling
Control

Linear

50.5

3.5

Circular

71.6

3.7

Parabolic

77.3

11.1

A variable-gain cross-coupling controller that reduces the contour

errors has been proposed.
In this paper the method is based on building in real time the
instantaneous contour error.

 Objectives:
In most of papers control algorithm is base on PI, Simple PID and
Cross-Coupled Control scheme but my focus on Sliding Mode
Control design for Dual-Servo system.
Design a controller for Dual Loaded Servo System is difficult task
in real time application formulation. So sliding mode control is
really helpful to achieve optimization technique in Dual Servo
synchronization accuracy.
Using MATLAB tool, try to simulate as well as compare of all
control algorithm in simulation and also implementation of sliding
mode control in real time.

Paper Referred in Detailed:

Shilong Wang ; Liang Huang ; Jie Zhou ; Ling Kang, "A linear PI
cross-coupled control for servo system of CNC gear hobbing
machine," IEEE International Conference on Information and
Automation (ICIA), 2010, pp.987-991.
Alessandro Pisano, Alejandro Davila, Leonid Fridman and Elio
Usai, "Cascade Control of PM DC Drives Via Second-Order
Sliding-Mode Technique," IEEE TRANSACTIONS ON
INDUSTRIAL ELECTRONICS, VOL. 55, NO. 11, NOVEMBER
2008
O-Shin Kwon, Seung-Hoe Choe and Hoon Heo, "A study on the
dual-servo system using improved cross-coupling control method
" ,10th International Conference on Environment and Electrical
Engineering (EEEIC), pp. 1-4, 2011
Variable-Gain Cross-Coupling Controller for Contouring.

Thank You

 H (H-infinity) methods are used in control theory to synthesize

controllers achieving stabilization with guaranteed performance.
To use H methods, a control designer expresses the control
problem as a mathematical optimization problem and then finds the
controller that solves this optimization.

H techniques have the advantage over classical control

techniques in that they are readily applicable to problems involving
multivariate systems with cross-coupling between channels

The phrase H control comes from the name of the mathematical

space over which the optimization takes place