Robust Proportional-Derivative control of a three-axis milling machine tool

Abstract

A Proportional-Derivative (PD) control scheme based on on-line compensation of disturbance signals is proposed for robust and efficient tracking of desired motion trajectories in a three-axis milling machine tool. The friction and cutting forces are lumped into an unknown bounded time-varying disturbance input signal affecting the dynamics of the motion axes of the milling machine. An estimation method is applied for on-line estimation of the disturbance and velocity signals required to implement the motion controllers. Simulation results are provided to show the efficient and robust tracking performance of the proposed motion control scheme and the fast and effective estimation of the perturbation and velocity signals. © Springer-Verlag Berlin Heidelberg 2012.