Delta approach robust controller for constant turning force regulation

The adaptive implementation of a robust controller for the constant turning force regulation problem under varying cutting conditions is presented. The discrete control structure is based on a state variable feedback regulator obtained using the delta approach optimal control theory. The controller scheme is robust in the presence of cutting process nonlinearities and disturbances. The proposed adaptive scheme uses an estimation and controller algorithm including prior knowledge of the system. Simulations and experimental results obtained with an industrial lathe show the robustness of the proposed solution.

[1]  G. Stein,et al.  Robustness with observers , 1978, 1978 IEEE Conference on Decision and Control including the 17th Symposium on Adaptive Processes.

[2]  Frédéric Rotella,et al.  Nonlinear Adaptive Control for Turning Processes , 1997 .

[3]  I. D. Landau.  Robust digital control of systems with time delay (the Smith predictor revisited) , 1995 .

[4]  L. Daneshmend,et al.  Model Reference Adaptive Control of Feed Force in Turning , 1986 .

[5]  Tohru Watanabe.  A Model-Based Approach to Adaptive Control Optimization in Milling , 1986 .

[6]  Masayoshi Tomizuka,et al.  Modeling and conventional/adaptive PI control of a Lathe cutting process , 1988 .

[7]  F. Rotella,et al.  A robust adaptive controller for constant turning force regulation , 1997 .

[8]  A. Galip Ulsoy,et al.  Principal Developments in the Adaptive Control of Machine Tools , 1983 .

[9]  David W. Clarke,et al.  Generalized predictive control - Part I. The basic algorithm , 1987, Autom..

[10]  Yoram Koren,et al.  Computer control of manufacturing systems , 1983 .

[11]  A. Galip Ulsoy,et al.  Control of Machining Processes , 1993 .

[12]  F. Rotella,et al.  Flatness approach for the numerical control of a turning process , 1999, 1999 European Control Conference (ECC).

[13]  J. W. Modestino,et al.  Adaptive Control , 1998 .

[14]  F. Rotella,et al.  Hybrid real time adaptive PID control system for turning , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.