Journal article
Adaptive and Sliding Mode Friction-Resilient Machine Tool Positioning - Cascaded Control Revisited
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
Language: | English |
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Year: | 2019 |
Pages: | 35-54 |
ISSN: | 10961216 and 08883270 |
Types: | Journal article |
DOI: | 10.1016/j.ymssp.2019.06.015 |
ORCIDs: | Papageorgiou, Dimitrios , Blanke, Mogens and Niemann, Hans Henrik |
Axis drive-train Friction High accuracy positioning Immersion and invariance control, Machine-tool control Nonlinear adaptive control Robustness Super-twisting sliding-mode control