Dynamic modeling and adaptive predictive control (APC) of drilling of composite materials

Dynamic modeling and adaptive predictive control of drilling force of composite materials are developed. A linear dynamic model is applied to predict the drilling force as a function of the drill feedrate. It can predict force locally for the tuned case under the condition of small variation of operation range. An adaptive strategy is used to estimate model parameters in real time so that the linear model may be applied to the whole drilling process in the situation of large variation of operation range. The loop gain is assumed to be locally time invariant in the prediction horizon and a multi-step ahead prediction model is proposed. An adaptive predictive control strategy is utilized to regulate the thrust force in the drilling process. Simulation and experimental results are presented