Adaptive Sliding Mode Control With Feedforward Compensator for Energy-Efficient and High-Speed Precision Motion of Feed Drive Systems

Abstract

Industrial feed drive systems, particularly ball-screw and lead-screw feed drives are among the dominating components in production and manufacturing industries. They operate around the clock and at high speeds for coping with the growing production demands. Adversely, high-speed motions cause mechanical vibration, high-energy consumption, and poor tracking performance. Thus, over the years, the research community has invested in precision control and energy saving for these systems. Although there are many control strategies in the literature, such as sliding mode and model predictive controls, further research is necessary for performance enhancement. This study focuses on both high-speed precision control and energy-saving control for feed drive systems. An adaptive nonlinear sliding mode controller with a feedforward compensator for plant uncertainties is designed and its stability is confirmed through the Lyapunov stability theories. For performance evaluation, simulations and experiments are conducted and results are compared with those of an adaptive nonlinear sliding model controller. Results revealed that, based on the proposed controller, the tracking errors of feed drive systems can be reduced by about 33% on average and the maximum tracking error by about 64% on average. In addition, the energy consumption can be reduced by about 2% under similar tracking performance. INDEX TERMSComputer numerical controlled machines, controller design, adaptive control, sliding mode control, machine tools, nonlinear control, uncertainty dynamics.

Sliding mode control strategy based lead screw control design in electromechanical tracking drive system

“…Limiting oscillation on the sliding surface for the controller: one limitation of the sliding mode control mode is the chattering phenomenon on the sliding surface, which negatively affects the system and the actuator. To limit the oscillation on the sliding surface, we use the saturation function instead of the sign function in the control law (18), [2]. The saturation (sat) function is described as (24).…”

“…Syriac and Chiddarwar [20], Tian et al [23] both only study theory and stop at simulation, but have not entered into experimental and control programming. As mentioned above, the lead screw drive system for machine tools has the characteristic that during the working process there are always impact disturbances such as friction force, elastic moment, the effect of clearance when reversing rotation, jet, and affects the quality of the controller causing errors when controlling [2], [5], [6], [9], [14], [17], [18], [24]. This paper presents the problem of improving the quality of the position tracking controller for the automatic control system of the lead screw using AC servo motors applied in machine tools.…”

Influence of lateral dynamic error on the trajectory error in machine tools

“…1 The reduction of tracking error and contour error for multi-axis machine tools is mainly developed from two aspects: control and compensation. Msukwa et al 25 used an adaptive nonlinear sliding mode controller with a feedforward compensator and a model predictive control to improve the tracking performance of a biaxial feed drive system, respectively. Yang et al 26 reduced the contour error by error compensation method for free-form two-dimensional.…”

Sliding Mode Control of Servo Feed System Based on Fuzzy Reaching Law

“…The literature [8,9] investigated various control issues of servo position systems, including their stability, output regulation capability, and interference immunity. To address the system uncertainty, Msukwa et al [10] proposed a nonlinear sliding mode controller with a feedforward compensator, which led to a significant improvement in the tracking performance of the feed drive system. By means of Lyapunov stability theory, the stability of the system is analyzed and confirmed, and its convergence to the sliding surface is ensured.…”