Development of the CAD for Advanced Motion Control and Its Realization on High-Precision CNC

• Main Authors: Zheng-Hong Tsai, 蔡政宏
• Other Authors: Pau-Lo Hsu
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/62w23g

碩士 === 國立交通大學 === 電機與控制工程系所 === 92 === Although many modern control algorithms were proposed recently, manufacturing still prefers the PID control because of its easy and reliable applications. In this thesis, a user-friendly computer aided design (CAD) software for advanced motion control is proposed and the DSP code is automatically generated for computerized numerical control (CNC) machine tools to achieve both tracking and contouring accuracy against external disturbance and mechanical friction. The feedforward controller is adopted to improve tracking performance and the cross-coupling control (CCC) is employed to cope with the contouring error. Moreover, the digital disturbance observer (DDOB) is included to decrease the modeling error and the effect of external disturbance. However, the slip-stick and quadrant glitches phenomena still cannot be successfully eliminated by applying the linear controllers. Therefore, a non-linear frictional compensator (NFC) is developed in this thesis to effectively reduce the contouring error caused by friction. In this thesis, the present CAD software includes controller design and simulation of three linear controllers and one non-linear frictional compensator. The code of Texas Instrument TMS320F2812 DSP microcontroller is automatically generated by the developed CAD to implement the control algorithms. Experimental results of a DYNA MYTE 1007 CNC machine indicate that both tracking and contouring errors are significantly reduced by applying the present advanced motion control design.