Keywords

Multi axis, machine tool, contour control, robust control

Abstract

In modern manufacturing industries, many applications require precision motion control of multi-agent systems, like multi-joint robot arms and multi-axis machine tools. Cutter (end effector) should stay as close as possible to the reference trajectory to ensure the quality of the final products. In conventional computer numerical control (CNC), the control unit of each axis is independently designed to achieve the best individual tracking performance. However, this becomes less effective when dealing with multi-axis contour following tasks because of the lack of coordination among axes. This dissertation studies the control of multi-axis machine tools with focus on reducing the contour error. The proposed research explicitly addresses the minimization of contour error and treats the multi-axis machine tool as a multi-input-multi-output (MIMO) system instead of several decoupled single-input-single-output (SISO) systems. New control schemes are developed to achieve superior contour following performance even in the presence of disturbances. This study also extends the applications of the proposed control system from plane contours to regular contours in R3. The effectiveness of the developed control systems is experimentally verified on a micro milling machine.

Notes

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Graduation Date

2014

Semester

Spring

Advisor

Lin, Kuo-Chi

Degree

Doctor of Philosophy (Ph.D.)

College

College of Engineering and Computer Science

Department

Mechanical and Aerospace Engineering

Degree Program

Mechanical Engineering

Format

application/pdf

Identifier

CFE0005287

URL

http://purl.fcla.edu/fcla/etd/CFE0005287

Language

English

Release Date

May 2019

Length of Campus-only Access

5 years

Access Status

Doctoral Dissertation (Campus-only Access)

Subjects

Dissertations, Academic -- Engineering and Computer Science; Engineering and Computer Science -- Dissertations, Academic

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