Model Reference Adaptive Control of Feed Force in Turning

Abstract

This paper applies the discrete-time single-input/single-output Model Reference Adaptive Control (MRAC) design technique of Landau and Lozano to the problem of regulating feed force on a lathe under varying cutting conditions. A first-order model is used to represent the relationship between feed force and the control input (feedrate). The MRAC scheme is implemented on a multi-microprocessor based computer-numerical-control system. Results of applying various algorithms derived from the MRAC design technique are presented.

Robotic Machining from Programming to Process Control

“…The relationship between the machining process force and the tool feed speed is nonlinear and time-varying, as shown in the following dynamic model (Landers & Ulsoy, 2000)  is 63% of the time required for a spindle revolution. (Daneshmend & Pak, 1986) Since m  is much smaller than the time constant of robot system, it is ignored here in the MRR controller design. Let,…”

Robotic machining from programming to process control

“…The relationship between the machining process force and the tool feed speed is nonlinear and time-varying, as shown in the following dynamic model (Landers & Ulsoy, 2000) 1  is 63% of the time required for a spindle revolution. (Daneshmend & Pak, 1986) Since m  is much smaller than the time constant of robot system, it is ignored here in the MRR controller design. Let,…”

A comparison of model-based machining force control approaches

“…Early work has shown that these changes can lead to degradation in the performance of fixed-gain controllers, even to the point of instability [1]. To account for process variations and to maintain system stability, researchers in machining force control have employed adaptive control techniques (e.g., [2][3][4]). Recently, model-based approaches have been applied to the machining force control problem.…”