Adaptive and Sliding Mode Friction-Resilient Machine Tool Positioning - Cascaded Control Revisited

Dimitrios Papageorgiou*, Mogens Blanke, Hans Henrik Niemann, Jan H. Richter

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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Abstract

Needs for high-accuracy tool positioning and accurate trajectory following have renewed the focus on controller design for machine tools. While state-of-the-art solutions, based on Proportional (P) and Proportional-Integral (PI) cascades, achieve sufficient nominal performance, axis positioning accuracy quickly degrades in the presence of additional wear-related friction. Sliding-mode and nonlinear adaptive controllers with no cascaded architecture can alleviate such performance deterioration at the cost, however, of significantly increased design complexity. This is mainly due to the fact that such architectures facilitate addressing more nonlinear phenomena, such as load dynamic friction. This paper investigates three nonlinear controllers with cascaded architecture for machine tool axis positioning. A comparative analysis of the positioning solutions is carried out and it is shown that a cascaded scheme comprising a proportional and a super-twisting sliding-mode controller offers superior friction-resilient axis positioning. Moreover, its design complexity is comparable to that of the conventional P-PI solution. Experimental results obtained from a single-axis test setup equipped with commercial industrial equipment validate the theoretical findings
Original languageEnglish
JournalMechanical Systems and Signal Processing
Volume132
Pages (from-to)35-54
ISSN0888-3270
DOIs
Publication statusPublished - 2019

Keywords

  • Machine-tool control
  • Axis drive-train
  • Friction
  • Super-twisting sliding-mode control
  • Nonlinear adaptive control
  • Immersion and invariance control,
  • Robustness
  • High accuracy positioning

Cite this

@article{27162d2766d8479ea60cfb7501b839ab,
title = "Adaptive and Sliding Mode Friction-Resilient Machine Tool Positioning - Cascaded Control Revisited",
abstract = "Needs for high-accuracy tool positioning and accurate trajectory following have renewed the focus on controller design for machine tools. While state-of-the-art solutions, based on Proportional (P) and Proportional-Integral (PI) cascades, achieve sufficient nominal performance, axis positioning accuracy quickly degrades in the presence of additional wear-related friction. Sliding-mode and nonlinear adaptive controllers with no cascaded architecture can alleviate such performance deterioration at the cost, however, of significantly increased design complexity. This is mainly due to the fact that such architectures facilitate addressing more nonlinear phenomena, such as load dynamic friction. This paper investigates three nonlinear controllers with cascaded architecture for machine tool axis positioning. A comparative analysis of the positioning solutions is carried out and it is shown that a cascaded scheme comprising a proportional and a super-twisting sliding-mode controller offers superior friction-resilient axis positioning. Moreover, its design complexity is comparable to that of the conventional P-PI solution. Experimental results obtained from a single-axis test setup equipped with commercial industrial equipment validate the theoretical findings",
keywords = "Machine-tool control, Axis drive-train, Friction, Super-twisting sliding-mode control, Nonlinear adaptive control, Immersion and invariance control,, Robustness, High accuracy positioning",
author = "Dimitrios Papageorgiou and Mogens Blanke and Niemann, {Hans Henrik} and Richter, {Jan H.}",
year = "2019",
doi = "10.1016/j.ymssp.2019.06.015",
language = "English",
volume = "132",
pages = "35--54",
journal = "Mechanical Systems and Signal Processing",
issn = "0888-3270",
publisher = "Academic Press",

}

Adaptive and Sliding Mode Friction-Resilient Machine Tool Positioning - Cascaded Control Revisited. / Papageorgiou, Dimitrios; Blanke, Mogens; Niemann, Hans Henrik; Richter, Jan H.

In: Mechanical Systems and Signal Processing, Vol. 132, 2019, p. 35-54.

Research output: Contribution to journalJournal articleResearchpeer-review

TY - JOUR

T1 - Adaptive and Sliding Mode Friction-Resilient Machine Tool Positioning - Cascaded Control Revisited

AU - Papageorgiou, Dimitrios

AU - Blanke, Mogens

AU - Niemann, Hans Henrik

AU - Richter, Jan H.

PY - 2019

Y1 - 2019

N2 - Needs for high-accuracy tool positioning and accurate trajectory following have renewed the focus on controller design for machine tools. While state-of-the-art solutions, based on Proportional (P) and Proportional-Integral (PI) cascades, achieve sufficient nominal performance, axis positioning accuracy quickly degrades in the presence of additional wear-related friction. Sliding-mode and nonlinear adaptive controllers with no cascaded architecture can alleviate such performance deterioration at the cost, however, of significantly increased design complexity. This is mainly due to the fact that such architectures facilitate addressing more nonlinear phenomena, such as load dynamic friction. This paper investigates three nonlinear controllers with cascaded architecture for machine tool axis positioning. A comparative analysis of the positioning solutions is carried out and it is shown that a cascaded scheme comprising a proportional and a super-twisting sliding-mode controller offers superior friction-resilient axis positioning. Moreover, its design complexity is comparable to that of the conventional P-PI solution. Experimental results obtained from a single-axis test setup equipped with commercial industrial equipment validate the theoretical findings

AB - Needs for high-accuracy tool positioning and accurate trajectory following have renewed the focus on controller design for machine tools. While state-of-the-art solutions, based on Proportional (P) and Proportional-Integral (PI) cascades, achieve sufficient nominal performance, axis positioning accuracy quickly degrades in the presence of additional wear-related friction. Sliding-mode and nonlinear adaptive controllers with no cascaded architecture can alleviate such performance deterioration at the cost, however, of significantly increased design complexity. This is mainly due to the fact that such architectures facilitate addressing more nonlinear phenomena, such as load dynamic friction. This paper investigates three nonlinear controllers with cascaded architecture for machine tool axis positioning. A comparative analysis of the positioning solutions is carried out and it is shown that a cascaded scheme comprising a proportional and a super-twisting sliding-mode controller offers superior friction-resilient axis positioning. Moreover, its design complexity is comparable to that of the conventional P-PI solution. Experimental results obtained from a single-axis test setup equipped with commercial industrial equipment validate the theoretical findings

KW - Machine-tool control

KW - Axis drive-train

KW - Friction

KW - Super-twisting sliding-mode control

KW - Nonlinear adaptive control

KW - Immersion and invariance control,

KW - Robustness

KW - High accuracy positioning

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DO - 10.1016/j.ymssp.2019.06.015

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SN - 0888-3270

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