ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Dynamic Modeling and Adaptive Sliding Mode Control of A-axis for Efficient and Powerful Milling
Received date: 2013-04-28
Revised date: 2013-05-29
Online published: 2013-06-09
Supported by
National Science and Technology Major Project (2013ZX04001081)
Positioning precision of the A-axis as an essential assembly in a 5-axis CNC machine tool directly affects the machining accuracy and surface quality of the machined parts. Considering the influence of parameter perturbation and uncertain cutting force on the control precision of the A-axis, this paper analyzes the static and dynamic performance of the A-axis, discusses the relationships among the drive torque, load torque, motion direction and system parameters, and finally establishes a nonlinear dynamic model of the system. On the basis of this model, an adaptive fuzzy sliding mode control (AFSMC) is proposed. The fuzzy system is used to approximate the nonlinear functions in the sliding mode control law, and adaptive laws of the tunable parameters are designed based on Lyapunov theory. Meanwhile, the exponential reaching law is utilized in switching mode control (SMC). Experimental results show that the proposed AFSMC is robust to parameter perturbation and uncertain load torque. Compared with the traditional sliding mode control (TSMC), the proposed method can effectively reduce control input chattering and improve the tracking precision by 14.54%.
ZHAO Pengbing , SHI Yaoyao . Dynamic Modeling and Adaptive Sliding Mode Control of A-axis for Efficient and Powerful Milling[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014 , 35(2) : 555 -566 . DOI: 10.7527/S1000-6893.2013.0293
[1] Young H T, Chuang L C, Gerschwiler K, et al. A five-axis rough machining approach for a centrifugal impeller[J]. The International Journal of Advanced Manufacturing Technology, 2004, 23(3-4): 233-239.
[2] Zhang K. Structural optimization and dynamics analysis on A/C biaxial rotary CNC universal milling head[D]. Harbin: School of Mechatronics Engineering, Harbin Institute of Technology, 2010. (in Chinese) 张坤. A/C双摆角数控万能铣头结构优化设计与动力学分析[D]. 哈尔滨: 哈尔滨工业大学机电工程学院, 2010.
[3] Zuo Z, Li D H, Dai Y P, et al. State compensating control for gyro-stabilized platform[J]. Acta Aeronautica et Astronautica Sinica, 2008, 29(1): 141-148. (in Chinese) 左哲, 李东海, 戴亚平, 等. 陀螺稳定平台状态补偿控制[J]. 航空学报, 2008, 29(1): 141-148.
[4] Sun Y B, Jin S, Wang C Y. μ-H∞ speed controller design for direct drive ring permanent magnet torque motor[J]. Proceedings of the CSEE, 2007, 27(3): 35-39. (in Chinese) 孙宜标, 金石, 王成元. 直接驱动环形永磁力矩电机μ-H∞速度控制器设计[J]. 中国电机工程学报, 2007, 27(3): 35-39.
[5] Sun Y B, Wei Q J, Wang C Y. Second order sliding mode control for permanent magnet ring torque motor used in compound A/C axe[J]. Electric Machines and Control, 2008, 12(2): 122-125. (in Chinese) 孙宜标, 魏秋瑾, 王成元. 复合A/C轴永磁环形力矩电机二阶滑模控制[J]. 电机与控制学报, 2008, 12(2): 122-125.
[6] Zhao P B, Shi Y Y, Ning L Q. Research on high-precision control of the A-axis in efficient and powerful milling machine for blisk manufacturing[J]. Acta Aeronautica et Astronautica Sinica, 2012, 33(7): 1706-1715. (in Chinese) 赵鹏兵, 史耀耀, 宁立群. 整体叶盘高效强力复合铣A轴高精度控制技术研究[J]. 航空学报, 2012, 33(7): 1706-1715.
[7] Liu C S, Yu C M, Zhang W B. Technical overview of biaxial rotary CNC universal milling head[J]. Machinery, 2011, 49(56): 56-58. (in Chinese) 刘春时, 于春明, 张文博. 双摆角数控万能铣头技术概述[J]. 机械制造, 2011, 49(56): 56-58.
[8] Chen M S, Chen C H, Yang F Y. An LTR-observer-based dynamic sliding mode control for chattering reduction[J]. Automatica, 2007, 43(6): 1111-1116.
[9] Jin Y Q, Liu X D, Qiu W, et al. Time-varying sliding mode controls in rigid spacecraft attitude tracking[J]. Chinese Journal of Aeronautics, 2008, 21(4): 352-360.
[10] Xiao B, Hu Q L, Huo X, et al. Sliding mode fault tolerant attitude control for flexible spacecraft under actuator fault[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(10): 1869-1878. (in Chinese) 肖冰, 胡庆雷, 霍星, 等. 执行器故障的挠性航天器姿态滑模容错控制[J]. 航空学报, 2011, 32(10): 1869-1878.
[11] Chen H M, Ren J C, Su J P. Sliding mode control with varying boundary layers for an electro-hydraulic position servo system[J]. The International Journal of Advanced Manufacturing Technology, 2005, 26(1-2): 117-123.
[12] Liu J K, Sun F C. Nominal model-based sliding mode control with back stepping for 3-axis flight table[J]. Chinese Journal of Aeronautics, 2006, 19(1): 65-71.
[13] Liu X X, Hu Y W, Bu Y Z. Precision linearization control for permanent magnet synchronous motor based on sliding mode variable structure control[J]. Acta Aeronautica et Astronautica Sinica, 2008, 29(5): 1269-1273. (in Chinese) 刘贤兴, 胡育文, 卜言柱. 基于滑模变结构的永磁同步电机精确线性化控制[J]. 航空学报, 2008, 29(5): 1269-1273.
[14] Lin J, Lian R J, Huang C N, et al. Enhanced fuzzy sliding mode controller for active suspension systems[J]. Mechatronics, 2009, 19(7): 1178-1190.
[15] Lin T C. Based on interval type-2 fuzzy-neural network direct adaptive sliding mode control for SISO nonlinear systems[J]. Communications in Nonlinear Science and Numerical Simulation, 2010, 15 (12): 4084-4099.
[16] Noroozi N, Roopaei M, Jahromi M Z. Adaptive fuzzy sliding mode control scheme for uncertain systems[J]. Communications in Nonlinear Science and Numerical Simulation, 2009, 14(11): 3978-3992.
[17] Ho H F, Wong Y K, Rad A B. Robust fuzzy tracking control for robotic manipulators[J]. Simulation Modeling Practice and Theory, 2007, 15 (7): 801-816.
[18] Wang L X. A course in fuzzy systems and control[M]. New Jersey: Prentice-Hall International, Inc, 1996: 124-127.
[19] Yamaguchi T, Ando J, Tsuda T. Sliding velocity dependency the friction coefficient of Si-containing diamond-like carbon film under oil lubricated condition[J]. Tribology International, 2011, 44(11): 1296-1303.
[20] Slotine J J E, Li W P. Applied nonlinear control[M]. New Jersey: Prentice-Hall International, Inc, 1991: 296-298.
/
| 〈 |
|
〉 |
CJA