The control scheme proposed aims to eliminate dynamic parameter mismatch between axes’ feed drives by using a single discrete time reference model of the feed drive speed regulation loop for all axes of a machine tool. In order to achieve this objective, the speed regulation loop for each axis is made adaptive using a direct approach. For contour tracking purposes, a preview feedforward controller (made possible through an N sample advanced reference word interpolator) is combined with a conventional state feedback control to form the input to the reference model.

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