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TECHNICAL PAPERS

Control of a Non-Orthogonal Reconfigurable Machine Tool

[+] Author and Article Information
Reuven Katz, John Yook, Yoram Koren

J. Dyn. Sys., Meas., Control 126(2), 397-405 (Aug 05, 2004) (9 pages) doi:10.1115/1.1771692 History: Received January 03, 2003; Revised September 16, 2003; Online August 05, 2004
Copyright © 2004 by ASME
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References

Koren, Y., 1999, “Reconfigurable Machining Systems Vision with Examples,” ERC/RMS Report #19, The University of Michigan, Ann Arbor.
Koren,  Y., Jovane,  F., Heisel,  U., Pritschow,  G., Ulsoy,  G., and VanBrussel,  H., 1999, “Reconfigurable Manufacturing Systems,” A Keynote paper. CIRP Ann., 2, pp. 6–12.
Koren Y. and Kota S. (inventors): Reconfigurable Machine Tool. U.S. patent #5,943,750. Issue date 8/31/1999.
Katz, R., Chung, H., 1999, “Design of an Experimental Arch Type Reconfigurable Machine Tool,” ERC/RMS Report #22, The University of Michigan, Ann Arbor.
Koren, Y., 1983, “Computer Control of Manufacturing Systems,” McGraw-Hill, New York.
Tomizuka,  M., 1987, “Zero Phase Error Tracking Algorithm for Digital Control,” ASME J. Dyn. Syst., Meas., Control, 109, March, pp. 65–68.
Tomizuka, M., 1988, “Design of Digital Tracking Controllers for Manufacturing Applications,” Control Methods for Manufacturing Processes, DSC-Vol. 9, ASME, New York.
Koren,  Y., 1980, “Cross-coupling Biaxial Computer Control for Manufacturing Systems,” J. Dyn. Syst., Meas., Control, 102, December, pp. 265–272.
Koren,  Y. Lo Ch.-Ch. 1991, “Variable-Gain Cross-Coupling Controller for Contouring,” CIRP Ann., 40/1/1991, pp. 321–374.
Srinivasan,  K., and Kulkarni,  P. A., 1990, “Cross-coupling Control of Biaxial Feed Drive Servomechanisms,” J. Dyn. Syst., Meas., Control, 112, June, pp 225–232.
Kulkarni,  P. A., and Srinivasan,  K., 1989, “Optimal Contouring Control of Multi-axial Feed Drive Servomechanisms,” J. Eng. Ind., 111, May, pp. 140–147.
Chuang,  H., and Liu,  C., 1991, “Cross-coupling Adaptive Feedrate Control for Multiaxis Machine Tools,” J. Dyn. Syst., Meas., Control, 113, June, pp. 451–457.
Yeh,  Z.-M., Trang,  Y. S., and Lin,  Y. S., 1997, “Cross-coupling Fuzzy Logic Control for Multiaxis Machine Tools,” Mechatronics, 7, No 8, pp. 663–681.
Yeh,  Z.-M., 1998, “A Cross-coupling Bistage Fuzzy Controller for Biaxis Servomechanism Control,” Fuzzy Sets Syst., 97, (1998) pp. 265–275.
Lo, C., 1992, “Cross-Coupling Control of Multi-Axis Manufacturing Systems,” Ph.D. Thesis, University of Michigan, Ann Arbor, MI.

Figures

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Schematic view of a Reconfigurable Machine Tool
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Reconfigurable position of Z-axis. The inclined angle can be changed from −15 deg to 60 deg
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Comparison between axial error and tracing error
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The diagram of the Symmetric Cross-Coupled Feed-Forward (S-CC-FF) controller. In the S-CC controller, the feed-forward block, Kff, does not exist. In the Non-Symmetric controller (NS-CC-FF), Czy is zero.
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Stable region for the parameters of the cross-coupled controllers
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The simplified RMT axial model
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Simulation results without any disturbance
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Simulation results with a step disturbance in the Y-axis
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Simulation results with a step disturbance in the Z-axis

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