| The objective of this research is to match the characteristics of the axes of the machine cutting tool by adjusting the nontraditional parameters, which are the axial inertias (or time constants), dampings, and loop gains. Three methods are proposed.;The first methodology (artificial inertia adjustment) is based on a self-tuned real-time system. The fast axis is slowed down to follow the slow axis by adding an artificial inertia to the fast axis (through changing the tachometer gain in real-time). To carry out this method, the time constant and loop gain of each axis are estimated using a recursive least squares algorithm. In the first method, the transients of the estimates of all the axes will affect the computation of the controller gains of the faster axis.;Therefore, to further improve the contour error precision of the machine parts, the second method is proposed, which is indirect model reference adaptive control. In this method, the transients of the estimates of only one axis will affect the computation of the controller gains of that axis. Using this method, the corrective action is based upon the difference between the parameters of a reference model and that of the process. The reference model is the explicit realization of the desired system. As a result, the second method has resulted in slightly less contour error.;In order to improve the contour error precision of the machine parts one step further, the third method (direct model reference adaptive control) is proposed. In this method, the corrective action is now based on the difference between the performance of the reference model and that of the process. Consequently, the contour error is slightly less than the other two methods.;In both direct and indirect model reference adaptive control methods, the control objective is to manipulate the nontraditional parameters in order to maintain zero axial mismatch. The constraint is to maintain identical time constants and loop gains in all the axes. In all the proposed methods, software has been used to compensate for the dynamic deficiency of the machine tool. (Abstract shortened by UMI.). |
