DOI QR코드

DOI QR Code

Integrated Design of Feed Drive Systems Using Discrete 2-D.O.F. Controllers (I) - Modeling and Performance Analysis -

이산형 2자유도 제어기를 이용한 이송계의 통합설계 (I) -모델링 및 성능해석-

  • Published : 2004.07.01

Abstract

High-speed/precision servomechanisms have been widely used in the manufacturing and semiconductor industries. In order to ensure the required high-speed and high-precision specifications in servomechanisms, an integrated design methodology is required, where the interactions between mechanical and electrical subsystems will have to be considered simultaneously. For the first step of the integrated design process, it is necessary to obtain not only strict mathematical models of separate subsystems but also formulation of an integrated design problem. A two-degree-of-freedom controller described in the discrete-time domain is considered as an electrical subsystem in this paper. An accurate identification process of the mechanical subsystem is conducted to verify the obtained mathematical model. Mechanical and electrical constraints render the integrated design problem accurate. Analysis of the system performance according to design and operating parameters is conducted for better understanding of the dynamic behavior and interactions of the servomechanism. Experiments are performed to verify the validity of the integrated design problem in the x-Y positioning system.

Keywords

Abbe offset;Discrete model;Mechatronic system;System identification;Optimization;Radius error;Stability;z-transform;2-D.O.F. controller

References

  1. Kim, M. S. and Chung, S. C., 2003, 'Identification of Nonlinear Characteristics for Precision Servomechanisms,' Proceedings of the ASPE 2003 Annual Meeting, pp.191-194
  2. Ljung, L., 1999, System Identification-Theory for the User, Prentice Hall PTR, New Jersey, pp.79-246
  3. MATLAB System Identification Toolbox User Guide, 2000, Mathworks, Inc.
  4. Kuo, B. C., 1992, Digital control Systems, Saunders College Publishing, Florida, pp. 383-417
  5. Isermann, R., 1996, 'On the Design and Control of Mechatronic Systems-A Survey,' IEEE Trans. On Industrial Electronics, Vol. 43, No.1, pp. 4-15 https://doi.org/10.1109/41.481402
  6. Skelton, R. E., 1997, 'Integrated Design, Modeling and Control of Structure,' Proc. of KACC, pp. 1-4
  7. Park, Y. J. and Chung, S. C., 1999, 'A Study on the Integrated Design of Axial Magnetic Bearing Systems,' Trans. of KSME(A), Vol. 23, No.5, pp. 730-742 (in Korean)
  8. Kim, M. S. and Chung, S. C., 2003, 'Integrated Design of High-Speed Feed Drive Systems,' Trans. of KSME(A), Vol. 27, No. 12, pp. 2028-2038 (in Korean) https://doi.org/10.3795/KSME-A.2003.27.12.2028
  9. George, W. Y., William, D. M. and Robert, D. L., 1991, 'Considerations for Low-inertia as Drives in Machine Tool Axis Servo Application,' IEEE Transactions on Industry Applications, Vol. 27, No.2, pp.262-267 https://doi.org/10.1109/28.73609
  10. Ho, W. K., Lim, K. W. and Xu, W., 1998, 'Optimal Gain and Phase Margin Tuning for PID Controllers,' Automarica, Vol. 34, No. 8, pp. 1009-1014 https://doi.org/10.1016/S0005-1098(98)00032-6
  11. Ebrahimi, M. and Whalley, R., 2000, 'Analysis, Modeling and Simulation of Stiffness in Machine Tool Drives,' Computers & Industrial Engineering, Vol. 38, pp.93-105 https://doi.org/10.1016/S0360-8352(00)00031-0
  12. Tlusty, J., 1993, 'High-Speed Machining,' Annals of the CIRP, Vol. 42, No.2, pp. 733-738 https://doi.org/10.1016/S0007-8506(07)62536-0
  13. Miles, A., 1998, High Performance Machining, Hanser Gardner Publication, Cincinnati
  14. Youcef-Toumi, K., 1996, 'Modeling, Design and Control Integration: A Necessary Step in Mechatronics,' IEEE/ASME Trans. On Mechatronics, Vol. 1, No.1, pp. 29-38 https://doi.org/10.1109/3516.491407