Title page for 90323119


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Student Number 90323119
Author Wei-Feng Kang(康瑋峰)
Author's Email Address No Public.
Statistics This thesis had been viewed 2600 times. Download 2384 times.
Department Mechanical Engineering
Year 2002
Semester 2
Degree Master
Type of Document Master's Thesis
Language English
Title Improving contouring accuracy of high-feed CNC machine tools
Date of Defense 2003-07-07
Page Count 47
Keyword
  • feedforword control
  • friction
  • quadrant glitches
  • Abstract As the development in industry, time and quality are more and more important in manufacturing industry. Therefore, automatic manufacturing machines are tending to high speed and high precision. This thesis is aimed to eliminate tracking error of traveling a circular profile on the CNC machine tools. Friction is one of the most significant source of nonlinear disturbance for the motion control which caused by the relative motion of different contact surface at the low velocity. The nonlinear component of friction such as static friction (stiction) and the Coulomb friction should be overcome so that the tracking error will be eliminated. When the X-Y tables are tracking a circular profile, quadrant glitches appear at ninety degrees intervals, i.e. the motion of one axis has a zero velocity crossing and reverses direction.
    The quadrant glitches were due to friction brought about transient phenomenon. Therefore, we will solve the transient phenomenon. We will make the system to reach steady state quickly, we may anticipate compensating a value when the motion of one axis has a zero velocity crossing and reverses direction. We will observe the system dynamic before traversing a circular profile, and to obtain a compensated value on off-line. 
    In addition, we designed the feedforward and P feedback tracking controllers. The research adopts feedforward controller to improve the tracking performance of the system.
    Finally, the above servo loop control of tracking a circular profile on CNC machine tools is verified by the simulation and experimental results.
    Table of Content 摘要i
    目錄ii
    第一章 導論iii
    第二章 象限誤差的簡介與補償iv
    第三章 控制器的設計v
    第四章 PC BASED CNC 架構介紹及實驗架構vi
    第五章 實驗與討論vii
    第六章 結論viii
    附錄ix
    ABSTRACTI
    TABLE OF CONTENTSIII
    LIST OF FIGUREV
    LIST OF TABLESVII
    LIST OF TABLESVII
    CHAPTER 1 INTRODUCTION1
    1.1BACKGROUND AND MOTIVATION1
    1.2LITERATURE REVIEW1
    1.3THESIS ARRANGEMENT3
    CHAPTER 2 INTRODUCTION TO QUADRANT GLITCHES AND FRICTION COMPENSATION4
    2.1 INTRODUCTION4
    2.1.1 Low Velocity Friction5
    2.1.2 Model of Friction[14]7
    2.1.3 Transient phenomenon due to friction9
    2.2 FRICTION COMPENSATION12
    CHAPTER 3 DESIGN OF TRACKING CONTROLLERS14
    3.1 PRELIMINARY14
    3.2 SERVO CONTROL ANALYSIS OF CNC MACHINE TOOLS14
    3.3 FEEDFORWARD CONTROLLER16
    CHAPTER 4 INTRODUCTION TO PC BASED CNC19
    4.1 INTRODUCTION TO PC BASED CNC CONFIGURATION19
    4.1.1 Motion Control Card (PCC1620)20
    4.2 EXPERIMENT FRAME24
    4.2.1 System Model27
    CHAPTER 5 EXPERIMENT RESULTS AND DISCUSSION30
    5.1 CONFIGURATION OF EXPERIMENT30
    5.2 EXPERIMENT RESULTS31
    5.2.1 Experiment Results of the friction compensation of traversing a circular profile32
    5.2.2 Experiment Results of applying the feedforwad control to enhance contouring motion precision39
    5.3 DISCUSSION43
    CHAPTER 6 CONCLUSION AND FUTRUE WORK45
    REFERENCE46
    Reference [1]Ogata, K., Discrete Time Control System, Prentice Hall, 1987.
    [2]Franklin, G. F., Powell J. D. and Workman M. L., Digital Control of Dynamic System, Prentice Hall, 1990.
    [3]Poo, A., Bollinger, J. G., and Younkin, G. W., “Dynamic Errors in Type I Contouring Systems,” IEEE Trans. on Industry Automation, Vol. 1A-8, No. 4, pp.477-484, 1972.
    [4]陳金聖, “利用雙球感良測發展數值工具機之誤差展段與補償技術,” 國立交通大學機械工程研究所碩士論文, 1993.
    [5]林恆毅, “線性馬達運動系統之摩擦力補償設計,” 國立交通大學機械工程研究所碩士論文, 2001.
    [6]Tomizuka, M., “High –Speed End Mill Boring and Rounded Corner Cutting,” Procesdings of American Control Conference, June 1994.
    [7]Tomizuka, M., “Zero Phase Error Tracking Algorithm for Digital Control,” ASME Journal of Dynamic Systems, Measurement, and Control, vol.109, pp.349-254, 1987.
    [8]Weck, M. G., “Sharp Corner Tracking Using the IKF Control Strategy,” Annals of CIRP 39/1/, pp.437-441, 1990.
    [9]Masory, O., “Improving Contouring Accuracy of NC/CNC Systems with Additional Velocity Feed Forward Loop, “ASME Journal of Engineering for Industry, vol.108, pp.227-230, 1986.
    [10]Lee, A. C. and Chen, C. S., “New Direct Velocity and Acceleration Feedforward Tracking Control in a Retrofitted Milling Machine, “International Conference on Precision Engineering, Vol.1, pp.49-54, November, 1997.
    [11]Tomizuka, M., Tung, E.D., Anwar, G., “Low Velocity Friction Compensation and Feedforward Solution Based on Repetitive Control,” Trans of ASME, Journal of Dynamic Systems, Measurement and Control, Vol.115, pp.279-284, June 1993.
    [12]Dupont, P.E., “Avoiding Stick/Slip in Position and Force Control Through Feedback,” Proc.1991 Inter. Conf. on Robotic and Automation. IEEE, pp.1470-1476, 1991.
    [13]Dupont, P.E., Dunlap, E.P., “Friction Modeling and Control in Boundary Lubrication,” Proc.1993 American Control Conf. pp.1910-1914.
    [14]Armstrong-Helouvry, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction,” Automatica, Vol.30, No.7, pp.1083-1138, 1994.
    [15]Ogata, K., Modern Control Engineering, Prentice Hall, 1997.
    [16]寶元科技, “PCC1620 運動控制軸卡繁體中文使用手冊,” 2001.
    [17]Panasonic, “AC 伺服馬達驅動器MINAS-A 操作說明書,” 2001.
    [18]洪明諒, “CNC工具機高速進給軌跡精度改進研究”, 國立清華大學動力機械研究所碩士論文, 2000.
    [19]陳鳴吉, “交叉耦合控制在高速軌跡追蹤控制之設計與實作”, 國立中山大學機械工程研究所碩士論文, 2001.
    [20]彭鐿文, ”直接速度、加速度前饋控制器設計及PC Based CNC系統的實現”, 國立交通大學機械工程研究所碩士論文, 1993
    Advisor
  • Pi-Cheng Tung(董必正)
  • Files
  • 90323119.pdf
  • approve immediately
    Date of Submission 2003-07-08

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