UBC Theses and Dissertations
Linear parameter-varying control of CNC machine tool feed-drives with dynamic variations Masih, Hanifzadegan
This thesis presents new approaches to feed-drive control of computer numerical control (CNC) machine tools machine tools with a significant range of dynamic variations during machining operations. Several sources which can cause dynamic variations of feed-drive systems are considered, such as the change of table position, the reduction of workpiece mass, and the variations of tool-path orientation. Feed-drive systems having the dynamic variations are modeled as linear parameter varying (LPV) models. For the LPV models, three control methods are proposed to achieve satisfactory control performance of feed-drive systems. In the first method, we propose a parallel structure of an LPV gain-scheduled controller which aims at both tracking control and the vibration suppression by taking into account the resonant modes' variations which are peculiar to ball-screw drives. In the second method, instead of designing one LPV controller, a set of gain-scheduled controllers are designed to compensate for a wide range of dynamic variations. In this method, switching between two adjacent controllers may result in a transient jump of control signal at switching instants. In the third method, to ensure a smooth control signal, we present a novel method to design a smooth switching gain-scheduled LPV controller. The moving region of the gain-scheduling variables is divided into a specified number of local subregions as well as subregions for the smooth controller switching. Then, one gain-scheduled LPV controller is assigned to each of the local subregions, while for each switching subregion, a function interpolating local LPV controllers associated with its neighbourhood subregions is designed. This interpolating function imposes the constraint of smooth transition on controller system matrices. The smooth switching controller design problem amounts to solving a feasibility problem which involves non-linear matrix inequalities that are solvable by a proposed iterative descent algorithm. The developed smooth switching controller is applied to control problems in both parallel and serial CNC machine tool mechanisms. Finally, for the multi-axis CNC machine tools, a multi-input-multi-output (MIMO) LPV feedback controller is designed to directly minimize contouring error in the task coordinate frame system.
Item Citations and Data
Attribution-NonCommercial-NoDerivs 2.5 Canada