Comparison of Automatically Tuned Cascade Control Systems of Servo-Drives for Numerically Controlled Machine Tools

Servo-drives have a significant influence on the tracking accuracy of numerically controlled machine tools. It is important to properly choose the structure and gains of a servo-drive control system. This paper presents a tuning method for position and velocity controllers of digital servo-drives. The proposed method allows the controllers’ gain values regardless of controller types (P, PI, PD or PID) to be determined. It takes into account a number of parameters relevant to practical applications, such as the shape of the position error signal and the resolution of the transducer used to measure the angular position of the motor shaft. The controller gains are determined for a parabolic position command signal. A comparison of the influence of both controllers’ types and feed-forward control types on tracking error is also presented. DOI: http://dx.doi.org/10.5755/j01.eee.20.3.2788

[1]  Yusuf Altintas,et al.  Virtual CNC system. Part I. System architecture , 2006 .

[2]  Suk-Hwan Suh,et al.  Theory and Design of CNC Systems , 2008 .

[3]  Emre Çelik,et al.  Speed control of permanent magnet synchronous motors using fuzzy controller based on genetic algorithms , 2012 .

[4]  Sung-Chong Chung,et al.  A systematic approach to design high-performance feed drive systems , 2005 .

[5]  M Maarten Steinbuch,et al.  Trajectory planning and feedforward design for electromechanical motion systems , 2005 .

[6]  Hongbo Shi,et al.  Adaptive position tracking control of permanent magnet synchronous motor based on RBF fast terminal sliding mode control , 2013, Neurocomputing.

[7]  George Ellis Control System Design Guide: Using Your Computer to Understand and Diagnose Feedback Controllers , 1991 .

[8]  Karl Johan Åström,et al.  PID Controllers: Theory, Design, and Tuning , 1995 .

[9]  K. Karwowski,et al.  Metoda doboru parametrów regulatorów położenia i prędkości serwonapędów w układach CNC , 2011 .

[10]  Mi-Ching Tsai,et al.  Design and implementation of command and friction feedforward control for CNC motion controllers , 2004 .

[11]  T. Tarczewski,et al.  State feedback control of the PMSM servo-drive with sinusoidal voltage source inverter , 2012, 2012 15th International Power Electronics and Motion Control Conference (EPE/PEMC).

[12]  Fengrong Zhang,et al.  Positioning Research for Wireless Sensor Networks Based on PSO Algorithm , 2013 .

[13]  Yuhui Shi,et al.  Particle swarm optimization: developments, applications and resources , 2001, Proceedings of the 2001 Congress on Evolutionary Computation (IEEE Cat. No.01TH8546).

[14]  Nguyen Phung Quang,et al.  Vector Control of Three-Phase AC Machines , 2015 .

[15]  Slobodan N. Vukosavic,et al.  Digital Control of Electrical Drives , 2007 .

[16]  Eric Rogers,et al.  Model predictive control of a permanent magnet synchronous motor with experimental validation , 2013 .