Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Contour error analysis and PID controller design for machining center

머시닝센터를 위한 윤곽오차 분석 및 PID 제어기 설계

  • Na, Il-Ju (Control and Instrumentation Engineering, Seoul National University) ;
  • Choi, Jong-Ho (ERC-ACI, ASRI, Dept.of Electirc Engineering, Seoul National University) ;
  • Jang, Tae-Jeong (Dept. of Control and Instrumentation Engineering, Kangwon National University) ;
  • Choi, Byeong-Kap (Control and Instrumentation Engineering) ;
  • Song, O-Seok
  • 나일주 (서울대학교 제어계측공학과) ;
  • 최종호 (서울대학교 전기공학부) ;
  • 장태정 (강원대학교 제어계측공학과) ;
  • 최병갑 (서울대학교 제어계측공학과) ;
  • 송오석 (서울대학교 제어계측공학과)
  • Published : 1997.02.01
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Abstract

One of the most important performance criteria in tuning the gain of position loop controller for CNC machining center is the contour error. In this papre we analyze contour error in the linear and circular interpolations for the axis-matched and mismatched cases. To have small contour errors, it is necessary to set the P gain for each axis to be same. And the D gain should be much smaller than the P gain. Baded on the analysis in the frequency domain, we propose a gain tuning method for the P and PD controllers. We show that the PD controller is better than the P controller. The effectiveness of this method is demonstrated by experiments.

Keywords

References

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