Receding Horizon Based Offline Gain Adjustment for Contour Error Reduction in High Speed Milling

Tan-Quang Duong (1) , Pedro Rodriguez-Ayerbe (1) , Sylvain Lavernhe (2) , Christophe Tournier (2) , Didier Dumur (1)

1 L2S - Laboratoire des signaux et systèmes
2 LURPA - Laboratoire Universitaire de Recherche en Production Automatisée

This paper presents an Off-line Gain Adjustment (OGA) approach to reduce contour error in 5-axis high speed machining. The proposed contour error formulation is based on the estimation of tool contact points and the OGA is inspired from the idea of Model Predictive Control (MPC). The control gains used in the position loop of servo drives are optimally adjusted off-line to reduce the contour error for the considered trajectory. The obtained gain profiles are computed preserving axis kinematic limitations, stability criterion of servo drives and the motor current constraints. The OGA is developed thanks to a validated machine simulator. The simulation results prove that the OGA reduces significantly the contour error in 5-axis high speed machining. Keywords Contour error · CNC · Off-line gain adjustment · Receding horizon · Model predictive control 1 Introduction

Mots clés: Milling; Adaptive control; Gain adjustment

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Tan-Quang Duong, Pedro Rodriguez-Ayerbe, Sylvain Lavernhe, Christophe Tournier, Didier Dumur. Receding Horizon Based Offline Gain Adjustment for Contour Error Reduction in High Speed Milling. CIRP ICME '16 - 10th CIRP Conference on Intelligent Computation In Manufacturing Engineering, 2016, Ischia, Italy. pp.227-232, ⟨10.1016/j.procir.2016.06.040⟩. ⟨hal-02120164v2⟩