Title :
Adaptive robust contour tracking of machine tool feed drive systems-a task coordinate frame approach
Author :
Chiu, George T C ; Yao, Bin
Author_Institution :
Sch. of Mech. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
We 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 built in integral anti-windup. The effectiveness of the proposed control law is demonstrated through the simulated control of an industrial CNC machine tool feed drive system
Keywords :
computerised numerical control; machine tools; position control; robust control; three-term control; time-varying systems; CNC machine tool feed drive system; adaptive robust contour tracking; bounded disturbances; curvilinear task coordinate frame; integral anti-windup; parameter variation; task coordinate frame approach; time varying PID control law; Adaptive control; Drives; Electrical equipment industry; Feeds; Industrial control; Machine tools; Programmable control; Robust control; Robustness; Three-term control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611952
