Adaptive Robust Contour Tracking of Machine Tool Feed Drive Systems - a Task Coordinate Frame Approach
نویسندگان
چکیده
In this paper we will show that contouring performance can be viewed as a regulation problem in a curvilinear task coordinate frame that is attached to the desired contour. By transforming the machine tool feed drive dynamics to this task coordinate frame, an adaptive robust control (ARC) law is derived to improve the contouring performance under system parameter variation and bounded disturbances. The resulting control law is in essence a time varying PID control law with build in integral anti-windup. The e ectiveness of the proposed control law is demonstrated through the simulated control of an industrial CNC machine tool feed drive system.
منابع مشابه
Contouring control of machine tool feed drive systems: a task coordinate frame approach
In this paper, we will show that contouring performance can be viewed as a regulation problem in a moving task coordinate frame that is attached to the desired contour. By transforming the machine tool feed drive dynamics to this task coordinate frame, a control law is designed to assign different dynamics to the tangential and normal directions. The transformation also illustrated the effect o...
متن کاملDesigning a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...
متن کاملCoordinated Adaptive Robust Contour Tracking of Linear-Motor-Driven Tables in Task Space
In order to improve the overall contouring performance, it appears that it is no longer possible to neglect dynamic coupling phenomena that occur during contour tracking, especially for linear motor systems which often move at high speed. This paper studies the high performance contour tracking control of linear-motor-driven tables. The table dynamics is first transformed into a task coordinate...
متن کاملContour Crafting Process Plan Optimization Part II: Multi–Machine Cases
Contour Crafting is an emerging technology that uses robotics to construct free form building structures by repeatedly laying down layers of material such as concrete. The Contour Crafting technology scales up automated additive fabrication from building small industrial parts to constructing buildings. Tool path planning and optimization for Contour Crafting benefit the technology by increasin...
متن کاملA Current-Based Output Feedback Sliding Mode Control for Speed Sensorless Induction Machine Drive Using Adaptive Sliding Mode Flux Observer
This paper presents a new adaptive Sliding-Mode flux observer for speed sensorless and rotor flux control of three-phase induction motor (IM) drives. The motor drive is supplied by a three-level space vector modulation (SVM) inverter. Considering the three-phase IM Equations in a stator stationary two axis reference frame, using the partial feedback linearization control and Sliding-Mode (SM) c...
متن کامل