The cross-coupled control (CCC) has been recognized as an efficient motion controller that reduces contouring errors, but theoretical analysis of it is lacking, and there is no systematic design approach for obtaining a CCC system with guaranteed control performance. Consequently, the compensators C in CCC are commonly implemented in a PID structure and their contouring accuracy is usually degraded in real applications under different operating conditions. In an attempt to overcome the CCC design limitations described above, this paper introduces a robust CCC design based on a novel formulation: the contouring error transfer function (CETF), leading to an equivalent formulation as in the feedback control design problem. Then, methods in robust control design can be readily employed to achieve robust CCC with specified stability margins and guaranteed contouring performance. Furthermore, the proposed design has been verified as being internally stable. All provided experimental results indicate that the proposed robust CCC design consistently renders satisfactory contouring accuracy under different operating conditions.
This study uses the machine vision method to develop an on-machine turning tool insert condition monitoring system for tool condition monitoring in the cutting processes of computer numerical control (CNC) machines. The system can identify four external turning tool insert conditions, namely fracture, built-up edge (BUE), chipping, and flank wear. This study also designs a visual inspection system for the tip of an insert using the surrounding light source and fill-light, which can be mounted on the turning machine tool, to overcome the environmental effect on the captured insert image for subsequent image processing. During image capture, the intensity of the light source changes to ensure that the test insert has appropriate surface and tip features. This study implements outer profile construction, insert status region capture, insert wear region judgment, and calculation to monitor and classify insert conditions. The insert image is then trimmed according to the vertical flank, horizontal blade, and vertical blade lines. The image of the insert-wear region is captured to monitor flank or chipping wear using grayscale value histogram. The amount of wear is calculated using the wear region image as the evaluation index to judge normal wear or over-wear conditions. On-machine insert condition monitoring is tested to confirm that the proposed system can judge insert fracture, BUE, chipping, and wear. The results demonstrate that the standard deviation of the chipping and amount of wear accounts for 0.67% and 0.62%, of the average value, respectively, thus confirming the stability of system operation.
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