Experimental comparison of contouring performance and consumed energy between adaptive versus non-adaptive controllers for an industrial machine

2018 IEEE International Conference on Industrial Electronics for Sustainable Energy Systems (IESES) Pub Date : 1900-01-01 DOI:10.1109/IESES.2018.8349924

Masaki Oda, N. Uchiyama, Tatsuhiko Sakaguchi

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Abstract

Although adaptive control has been widely studied and its effectiveness in control performance has been confirmed in scientific papers, applications to industrial machines are not widespread. This study verifies its effectiveness to not only motion trajectory tracking performance but also energy consumption with an industrial machine testbed. Because adaptive control adjusts its control parameters to ideal values, less energy consumption is expected while maintaining control performance. First, this paper presents a design of discrete-time adaptive control based on one of the authors' previous work. Next, contouring performance and energy consumption are compared to a conventional controller including proportional-derivative control and a robust observer. A typical repetitive circular motion of a machine tool feed drive with/without cutting tasks is employed for experimental comparison under several control system poles.

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一种工业机器自适应与非自适应控制器的轮廓性能与能耗实验比较

尽管自适应控制已被广泛研究，其在控制性能方面的有效性已在科学论文中得到证实，但在工业机器上的应用并不广泛。通过工业机械实验验证了该方法在运动轨迹跟踪性能和能耗方面的有效性。由于自适应控制将其控制参数调整到理想值，在保持控制性能的同时减少了预期的能耗。首先，本文在前人研究的基础上提出了一种离散时间自适应控制的设计方法。其次，将轮廓性能和能耗与包括比例导数控制和鲁棒观测器的传统控制器进行比较。在几个控制系统极点下，采用带/不带切削任务的机床进给驱动的典型重复圆周运动进行实验比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2018 IEEE International Conference on Industrial Electronics for Sustainable Energy Systems (IESES)

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