Technical Briefs

Switching Gain-Scheduled Control Design for Flexible Ball-Screw Drives

[+] Author and Article Information
Masih Hanifzadegan

Graduate Research Assistant,
e-mail: masih.hanif@gmail.com

Ryozo Nagamune

Associate Professor
e-mail: nagamune@mech.ubc.ca
Control Engineering Laboratory,
Department of Mechanical Engineering,
The University of British Columbia,
Vancouver, BC, V6T 1Z4, Canada

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 19, 2012; final manuscript received July 28, 2013; published online September 23, 2013. Assoc. Editor: Jiong Tang.

J. Dyn. Sys., Meas., Control 136(1), 014503 (Sep 23, 2013) (6 pages) Paper No: DS-12-1024; doi: 10.1115/1.4025154 History: Received January 19, 2012; Revised July 28, 2013

This paper proposes an application of the switching gain-scheduled control technique to the flexible ball-screw drive servo system with a wide range of operating conditions. The wide operating range is caused by the change of the table position and the workpiece mass during the machining operation, and leads to plant dynamics variations. To achieve high tracking performance of the table position against the dynamics variations and the cutting force disturbance, a set of gain-scheduled controllers is designed so that each controller damps out the resonance of the ball-screw system and increases the closed-loop bandwidth for a local operating range, and tracking performance is guaranteed under the switching between these controllers. Experimental results with a laboratory-scale ball-screw drive setup demonstrate that the switching gain-scheduled controller outperforms the nonswitching one by up to 52% in tracking accuracy.

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Fig. 2

Block diagram of the feedback system

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Fig. 1

A ball-screw drive system

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Fig. 3

Augmented block diagram for controller design

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Fig. 8

Reference trajectory and tracking error with no disturbance

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Fig. 7

Selected weighting functions Wr and Wf together with Tfe and Tre

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Fig. 10

Gain of |Try| in case I (the plots with red color and higher resonant frequencies) and case II (the plots with green color and lower resonant frequencies); l = 200 mm (dashed line) and l = 400 mm (solid line)

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Fig. 11

FRF magnitude of the transfer functions from f to l with different (l,m); case I (the plots with red color and smallest resonant peaks) and case II (the plots with green color and second largest resonant peaks) and open loop (the plots with black color and largest resonant peaks)

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Fig. 4

Weighting function selections

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Fig. 5

The ball-screw system test setup

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Fig. 6

Estimated parameters (dots) and functions of ωn in Eq. (4) (surface) for the flexible mode

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Fig. 9

Tracking error in case I (the plot with red color and smaller amplitudes) and case II (the plot with green color and larger amplitudes)



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