This paper presents a frequency domain learning control scheme for a class of nonlinear systems and its application to the process feedback control of the noncircular turning process for camshaft machining. In frequency domain, periodic signals are represented by the Fourier expansions that are nonzero only at discrete frequency points. An input dependent system matrix can be used to describe the input-output relationship of a class of nonlinear systems with periodic input and output signals. A learning controller is designed based on the system matrix and the bound of unmodeled dynamics. Conditions to achieve asymptotic stability and tracking performance are derived. To further improve system robustness, a low pass filter is used to turn off the learning scheme at high frequencies. The learning control scheme is then applied to the process feedback control of camshaft machining using the noncircular turning process. A two level control structure is adopted. The first level is servo control that ensures precise tool slide motion. The second level is frequency domain learning control that compensates machined profile errors due to the effects of tool/workpiece geometry, tool wears, machine deformations, and spindle runout errors. Relationship between the servo control and learning control is discussed. Implementation of the process feedback control on a steel camshaft turning demonstrates improvement of the maximum cam profile errors from to within in five iterations.
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Process Feedback Control of the Noncircular Turning Process for Camshaft Machining
Zongxuan Sun,
Zongxuan Sun
Department of Mechanical Engineering,
University of Minnesota
, Twin Cities Campus, Minneapolis, MN 55455
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Tsu-Chin Tsao
Tsu-Chin Tsao
Department of Mechanical and Aerospace Engineering,
University of California
, Los Angeles, Los Angeles, CA 90095
Search for other works by this author on:
Zongxuan Sun
Department of Mechanical Engineering,
University of Minnesota
, Twin Cities Campus, Minneapolis, MN 55455
Tsu-Chin Tsao
Department of Mechanical and Aerospace Engineering,
University of California
, Los Angeles, Los Angeles, CA 90095J. Dyn. Sys., Meas., Control. May 2008, 130(3): 031006 (6 pages)
Published Online: April 24, 2008
Article history
Received:
November 19, 2002
Revised:
December 14, 2007
Published:
April 24, 2008
Citation
Sun, Z., and Tsao, T. (April 24, 2008). "Process Feedback Control of the Noncircular Turning Process for Camshaft Machining." ASME. J. Dyn. Sys., Meas., Control. May 2008; 130(3): 031006. https://doi.org/10.1115/1.2907403
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