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Precision Tracking Controller Design for High Speed Feed Drives

[+] Author Affiliations
Kaan Erkorkmaz

University of Waterloo

Yusuf Altintas

University of British Columbia

Paper No. IMECE2005-80498, pp. 657-668; 12 pages
doi:10.1115/IMECE2005-80498
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

This paper investigates the effectiveness of adaptive sliding mode control (SMC) for precision tracking in high speed machine tool drives. Dynamics of the feed drive, comprising of rigid body motion, guideway friction and ball screw vibrations, are identified. Two strategies are developed. The first one considers rigid body dynamics in the plant and compensates for the resonance with a notch filter. The second controller considers the first torsional mode as part of the plant and actively suppresses its vibrations. The two controllers are evaluated in frequency domain analyses and simulations. The results indicate that the notch filter based design is easier to implement and possesses comparable tracking, disturbance rejection, and robustness to the mode-compensating SMC. The simulation results are verified in tracking tests where 1.5 [um] of accuracy is achieved at a feed speed of 250 [mm/sec].

Copyright © 2005 by ASME

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