Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
ABSTRACT
Modelling for Orientation control of a Drill Machine
belonging to a class of under actuated system is
presented. The orientation control along x-axis and
y-axis of the drill machine is achieved through a
single pair of electromagnetic poles. Based on the
concept of pulse width modulation a controlling
signal for the actuators which caters for all practical
limitations of the system is generated. The derived
discrete time equivalent model overcomes the
practical limitation of control techniques used for
such class of systems. It also opens a new dimension
especially for under-actuated and non-linear systems
which are otherwise difficult rather impossible
through orthodox control schemes. A closed form
based on discrete time equivalent model supported
by simulation results will be helpful in designing
overall feedback control for the orientation of the
system.
KEYWORDS
Under Actuated System, Control, Pulse Equivalent
Area, Pulse width Modulation
1. INTRODUCTION
Multi-axis machining is almost two to three
decades old but with innovative ideas,
challenging machining requirements and
invention of new type of materials keeps this
technological field still fertile and green for
scientist and engineers for further research and
experimentation. The ideas are not limited only
for exploring new & innovative and versatile
means of machining but field is open and rather
more importantly to carry out further
Proceedings of The Second International Conference on Electrical and Electronic Engineering, Telecommunication Engineering, and Mechatronics, Philippines 2016
X
X
Z, Z
Proceedings of The Second International Conference on Electrical and Electronic Engineering, Telecommunication Engineering, and Mechatronics, Philippines 2016
2 =
(5)
() =
1
[ 0
(2)
+ + =
(3)
(6)
() = ()
= ( )
(1)
+ =
() = () + ()
4 = 2
+ + =
+ =
1 2 +
3 = 1
3. MATHEMATICAL MODELING
A spinning drill bit with a high angular rate
about z-axis resembles two degrees of freedom
gyroscope, therefore following model of
gyroscope [20] is used :-
1 = 1 2 +
0 0
(7)
0 0 , = ,
0
0 0 0
[ 0 ]
1 0 0]
0 0 1 0
=[
]
(8)
0 0 0 1
(9)
Where
[
0
0
1 () =
0
0
0
0
] (10)
10
Proceedings of The Second International Conference on Electrical and Electronic Engineering, Telecommunication Engineering, and Mechatronics, Philippines 2016
() + ()
() =
() = () ()
(11)
where
=
+
1
[ 0
0
1
(+1)
0 ]
1 0
]
0 1
(12)
(K-1)T
KT
() =
(13)
0 0
= 0 , = [
0 0
0
[0]
(K+1)T
KT
(K+1)T
11
Proceedings of The Second International Conference on Electrical and Electronic Engineering, Telecommunication Engineering, and Mechatronics, Philippines 2016
KT
(K+1)T
III
II
Pw
()
time t
T
Figure 4. Single actuation cycle of period T
) the states at ( +
( +
Interval II : ( +
Interval III : ( + +
) = (+ 2 ) ()
) ( + +
( + +
(14)
2
) = ( 2 ) () +
( 2 )
(15)
(( + 1)) = ( 2 ) ( + +
(16)
(( + 1)) = () + () 2
(17)
2 3
24
4 5
1920
(18)
12
Proceedings of The Second International Conference on Electrical and Electronic Engineering, Telecommunication Engineering, and Mechatronics, Philippines 2016
Position X-axis
200
Actual Plant
Derived Model
0
-200
-400
0.1
0.2
0.3
0.4
0.5
Time
0.6
0.7
0.8
0.9
0.4
0.5
Time
0.6
0.7
0.8
0.9
Position Y-axis
200
Actual Plant
Derived Model
150
100
50
0
0.1
0.2
0.3
REFERENCES
[1]
[2]
6. CONCLUSION
A closed form in discrete time domain is
presented for orientation control of an underactuated drill machine. PWM approach was used
to overcome the practical limitation of
controlling signal. Technique of averaging the
control force over one revolution e.g., Principle
of Equivalent Areas (PEA) is avoided to achieve
precise control. The derived model is also
verified by comparing it with actual model
through simulations. The derived model is useful
for designing the feedback control system for
orientation control. An pulse equivalent area
based novel technique [26] has already been
developed for orientation control of similar
model under discussion since the typical control
techniques [27,28,29,30,31] are not applicable
for this class of model. This derived model will
be useful in developing fast optimization
schemes for this technique.
[3]
[4]
[5]
[6]
[7]
13
Proceedings of The Second International Conference on Electrical and Electronic Engineering, Telecommunication Engineering, and Mechatronics, Philippines 2016
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18]
[19]
[20]
[21]
[22]
[23]
[24]
[25]
[26]
[27]
[28]
[29]
[30]
[31]
14