Optimal Control of Direct Driven Feed Axes with Flexible Structural Components

Author

Batzies, Ekkehard ; Scholler, T. ; Welker, Volkmar ; Zirn, Oliver

Author_Institution

Univ. of Appl. Sci. Giessen, Giessen

fYear

2007

fDate

27-30 Nov. 2007

Firstpage

1127

Lastpage

1131

Abstract

In this paper we provide formulas for the controller gain for the velocity control of direct driven feed axes with flexible structural components. Our mathematical setting covers two general classes of structural flexibilities. For the first class we present a formula for the damping optimum, for the second a formula for the stability bound. Both formulas are algebraically exact. They are proved using the algebraic approach provided by Grobner bases. In addition, the formulas are shown to fit well to experimental data from the different drives of a machine tool manipulator.

Keywords

drives; flexible manipulators; machine tools; optimal control; servomechanisms; stability; velocity control; Grobner bases; direct driven feed axis; flexible structural component; machine tool manipulator; optimal control; servo drives; stability bound; velocity control; Actuators; Control systems; Damping; Elasticity; Feeds; Intelligent control; Machine tools; Optimal control; Stability; Velocity control; Control of servo drives; direct driven feed axes; intelligent control; structural flexibilities;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics and Drive Systems, 2007. PEDS '07. 7th International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-0645-6

Electronic_ISBN

978-1-4244-0645-6

Type

conf

DOI

10.1109/PEDS.2007.4487845

Filename

4487845