Abstract: A cross-coupling control method for moving beam of gantry machine tool is disclosed, which relates to the technical field of CNC machine tool control. The cross-coupling control method includes: Step 1: establishing a crossbeam dynamics model considering a ram on the crossbeam, and at the same time simplifying the model for an observer design; step 2: realizing a PID control parameter adjustment of motors at both ends in accordance with a method of parameter tuning of a unilateral servo control system; using a servo system with the same control parameters to jointly drive the crossbeam up and down, realizing the synchronous control and realizing PID control parameter tuning for both end motors. The disclosure not only reduces the synchronization error caused by the torsion of the crossbeam, but also solves the synchronization error caused by the asymmetric load on both sides, and improves the system robustness and stability.

Abstract: The present invention discloses a post-processing method for a special seven-five axis linkage machine tool, comprising: building a multi-body kinematic model according to the structure of the machine tool, and building the multi-body kinematic model according to the sequence of workpiece-turntable-machine tool-cross beam-ram-milling head-cutting tool; establishing position coordinate transformation matrices according to the built multi-body kinematic model to obtain the matrices of cutter location points and tool orientation vectors; solving transformation equations of every motion axis of the machine tool and cutter location point coordinates according to the matrices of cutter location points and tool orientation vectors; building a corresponding relationship between the cutter location point coordinates and every motion axis of the machine tool based on a geometric level, and solving specific values of C-axis rotation angle of milling head and C2-axis rotation angle of the turntable.