Experimental verification of chatter suppression in end milling process using cooperative control of spindle and stage motors

Chatter vibration is well known as an undesirable phenomenon, so various methods for chatter suppression have been proposed. Spindle speed variation as a triangular trajectory in the cutting process is one of the methods for chatter suppression. However, this method cannot suppress chatter vibration completely. Moreover, the triangular spindle speed variation requires large torque and a good response of the spindle motor. To solve these problems, this paper proposes a cooperative control of spindle and stage motors. The proposed methods are evaluated by simulations and experiments.