Design and implementation of command and friction feedforward control for CNC motion controllers

Tsai, Mi-Ching; Chiu, I-Min; Cheng, Ming-Yang

doi:10.1049/ip-cta:20040100

Cited by 34 publications

(25 citation statements)

References 19 publications

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“…Consequently, one of the key issues concerning the high-precision motion control problems is how to compensate for the adverse effect due to friction. To deal with this problem, one of the effective approaches is to construct a friction model and use it as a feedforward compensator to overcome the friction effect [6,9]. Figure 1 illustrates the schematic diagram of the conventional feedforward friction compensator combined with a velocity controller.…”

Section: Model-based Friction Compensationmentioning

confidence: 99%

Friction and disturbance compensation for speed control of servo control systems

Cheng

2010

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

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Generally, friction/disturbance compensation is an important issue in high-precision motion control applications. In particular, when the system under control undergoes low-speed or reversal motions, the friction force and external disturbances will degrade motion accuracy. Therefore, to achieve satisfactory motion performance, it is necessary to simultaneously compensate for the friction force and external disturbances. In this paper, an integrated motion control scheme consists of a PItype feedback controller, a friction compensator based on the LuGre model, and a Virtual Plant Disturbance Compensator (VPDC) is developed. In particular, the VPDC is proposed to replace the PI-type Closed-loop Torque Observer (PICTO) since the latter may provide inaccurate information when used in disturbance compensation. Several experiments on load torque estimation and speed control are conducted in order to evaluate the performance of the proposed approach. Experimental results demonstrate the effectiveness of the proposed approach.

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Section: Model-based Friction Compensationmentioning

confidence: 99%

Friction and disturbance compensation for speed control of servo control systems

Cheng

2010

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

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“…We used the system parameters of the example in Tsai et al (2004). Let δ 1 , δ 2 , δ 3 be the worst-execution times of the control blocks (and also the time slot lengths) of scheme 1, scheme 2 and scheme 3, respectively.…”

Section: Cnc Controlmentioning

confidence: 99%

“…Consider a 2-axis CNC machine where each axis is driven by a DC servo motor. The CNC controller for each axis is a cascade feedback control structure with command feedforward (Tsai et al (2004)). …”

Section: Problem Definitionmentioning

confidence: 99%

Computing Schedules for Time-Triggered Control using Genetic Algorithms

Nghiem

Fainekos

2011

IFAC Proceedings Volumes

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In this work, we study the optimal scheduling problem for embedded control systems. Given a number of numerical computation tasks that must be executed on an embedded computer, the goal is to find a periodic schedule that minimizes the error of the implementation with respect to the ideal system. In this paper, we pose two open problems: the decidability of the optimal scheduling problem for timed-triggered controllers (OSTTC) and the time complexity of the corresponding bounded version of the problem. We conjecture that the former is undecidable and that the latter is NP-Complete. In view of the previous conjectures, we present a Genetic Algorithm (GA) for the OSTTC problem. Initial experimental results of GA-OSTTC are very promising when compared to random search and exhaustive bounded search.

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“…Tsai et al [14] indicated a complete feed-forward compensator in a computer numerical control (CNC) machine. The structure of the feed-forward control can also be applied in the motion planning algorithm, where it maintains the characteristics such as optimizing time, reliability and precision.…”

Section: Introductionmentioning

confidence: 99%

Implementation of Fuzzy Self-Tuning PID and Feed-Forward Design for High-Performance Motion Control System

Ngo¹,

Kim

2014

International Journal of Fuzzy Logic and Intelligent Systems

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The existing conventional motion controller does not perform well in the presence of nonlinear properties, uncertain factors, and servo lag phenomena of industrial actuators. Hence, a feasible and effective fuzzy self-tuning proportional integral derivative (PID) and feed-forward control scheme is introduced to overcome these problems. In this design, a fuzzy tuner is used to tune the PID parameters resulting in the rejection of the disturbance, which achieves better performance. Then, both velocity and acceleration feed-forward units are added to considerably reduce the tracking error due to servo lag. To verify the capability and effectiveness of the proposed control scheme, the hardware configuration includes digital signal processing (DSP) which plays the main role, dual-port RAM (DPRAM) to guarantee rapid and reliable communication with the host, field-programmable gate array (FPGA) to handle the task of the address decoder and receive the feed-back encoder signal, and several peripheral logic circuits. The results from the experiments show that the proposed motion controller has a smooth profile, with high tracking precision and real-time performance, which are applicable in various manufacturing fields.

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Design and implementation of command and friction feedforward control for CNC motion controllers

Cited by 34 publications

References 19 publications

Friction and disturbance compensation for speed control of servo control systems

Friction and disturbance compensation for speed control of servo control systems

Computing Schedules for Time-Triggered Control using Genetic Algorithms

Implementation of Fuzzy Self-Tuning PID and Feed-Forward Design for High-Performance Motion Control System

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