Adaptive and Sliding Mode Friction-Resilient Machine Tool Positioning - Cascaded Control Revisited
| Autor: | Hans Henrik Niemann, Mogens Blanke, Dimitrios Papageorgiou, Jan H. Richter |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Nonlinear adaptive control business.product_category Friction Computer science Aerospace Engineering 02 engineering and technology 01 natural sciences 020901 industrial engineering & automation High accuracy positioning Control theory Robustness (computer science) 0103 physical sciences Super-twisting sliding-mode control Dynamical friction Robustness 010301 acoustics Civil and Structural Engineering Controller design Test setup Industrial equipment Machine-tool control Nonlinear phenomena Mechanical Engineering Immersion and invariance control Computer Science Applications Machine tool Axis drive-train Nonlinear system Control and Systems Engineering Signal Processing business |
| Zdroj: | Papageorgiou, D, Blanke, M, Niemann, H H & Richter, J H 2019, ' Adaptive and Sliding Mode Friction-Resilient Machine Tool Positioning-Cascaded Control Revisited ', Mechanical Systems and Signal Processing, vol. 132, pp. 35-54 . https://doi.org/10.1016/j.ymssp.2019.06.015 |
| Popis: | Needs for high-accuracy tool positioning and accurate trajectory following have renewed the focus on controller design for machine tools. While state-of-the-art solutions, based on Proportional (P) and Proportional-Integral (PI) cascades, achieve sufficient nominal performance, axis positioning accuracy quickly degrades in the presence of additional wear-related friction. Sliding-mode and nonlinear adaptive controllers with no cascaded architecture can alleviate such performance deterioration at the cost, however, of significantly increased design complexity. This is mainly due to the fact that such architectures facilitate addressing more nonlinear phenomena, such as load dynamic friction. This paper investigates three nonlinear controllers with cascaded architecture for machine tool axis positioning. A comparative analysis of the positioning solutions is carried out and it is shown that a cascaded scheme comprising a proportional and a super-twisting sliding-mode controller offers superior friction-resilient axis positioning. Moreover, its design complexity is comparable to that of the conventional P-PI solution. Experimental results obtained from a single-axis test setup equipped with commercial industrial equipment validate the theoretical findings. |
| Databáze: | OpenAIRE |
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