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TECHNICAL PAPERS

Robust Machining Force Control With Process Compensation

[+] Author and Article Information
Sung I. Kim

TRW Systems, Redondo Beach, California 90278e-mail: sung.kim@trw.com

Robert G. Landers

University of Missouri-Rolla, Department of Mechanical and Aerospace Engineering and Engineering Mechanics, Rolla, Missouri 65409-0050e-mail: landersr@umr.edu

A. Galip Ulsoy

University of Michigan, Department of Mechanical Engineering, Ann Arbor, Michigan 48109-2125e-mail: ulsoy@umich.edu

J. Manuf. Sci. Eng 125(3), 423-430 (Jul 23, 2003) (8 pages) doi:10.1115/1.1580849 History: Received July 01, 2001; Revised December 01, 2002; Online July 23, 2003
Copyright © 2003 by ASME
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References

Figures

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Upper forward-loop transfer function (circles), lower forward-loop transfer function (squares), upper desired forward-loop transfer function (diamonds), lower desired forward-loop transfer function (triangles). Note the upper and lower desired forward-loop transfer functions coincide.
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Block diagram of robust machining force control system
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Simulation results. Case I (circles): robust control with process compensation with K=K̄,α=α_,β=β̄, and d=d̄. Case II (squares): robust control with process compensation with K=K_,α=ᾱ,β=β_, and d=d̄. Case III (diamonds): robust control without process compensation with K=K̄,α=α_,β=β̄, and d=d̄. Case IV (triangles): robust control without process compensation with K=K_,α=ᾱ,β=β_, and d=d_. For all cases Fr=0.285 kN and T=0.08 s. Note that the responses for Cases I and III coincide.
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Simulation results for robust controller with process compensation [d=d_ (circles), d=dnom (squares), and d=d̄ (diamonds)]. Simulation parameters: K=Knom,α=αnom,β=βnom,Fr=0.285 kN, and T=0.08 s.
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Simulation results for robust controller without process compensation [d=d_ (circles), d=dnom (squares), and d=d̄ (diamonds)]. Simulation parameters: K=Knom,α=αnom,β=βnom,Fr=0.285 kN, and T=0.08 s.
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Schematic of experimental system and part. The part is fed towards the tool in the negative x direction.
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Experimental results for robust controller with process compensation. Controller parameters: K=K̄,α=α_,β=β̄,d=d_,Fr=0.285 kN, and T=0.08 s.
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Experimental results for robust controller with process compensation. Controller parameters: K=K_,α=ᾱ,β=β_,d=d̄,Fr=0.285 kN, and T=0.08 s.
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Experimental (circles) and simulation (squares) results for robust controller with process compensation. Simulation parameters: K=Knom,α=α_,β=βnom,d=3 mm,Fr=0.285 kN, and T=0.08 s.
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Experimental (circles) and simulation (squares) results for robust controller with process compensation. Simulation parameters: K=Knom,α=ᾱ,β=βnom,d=3 mm,Fr=0.285 kN, and T=0.08 s.
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Experimental (circles) and simulation (squares) results for robust controller with process compensation. Simulation parameters: K=K_,α=αnom,β=βnom,d=3 mm,Fr=0.285 kN, and T=0.08 s.
Grahic Jump Location
Experimental (circles) and simulation (squares) results for robust controller with process compensation. Parameters: K=K̄,α=αnom,β=βnom,d=3 mm,Fr=0.285 kN, and T=0.08 s.
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Experimental results for proposed robust controller with process compensation. Parameters: K=Knom,α=αnom,β=βnom,Fr=0.285 kN, and T=0.08 s.
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Experimental results for robust controller without process compensation. Parameters: K=Knom,α=αnom,β=βnom,Fr=0.285 kN, and T=0.08 s.

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