E-052

Modeling, Control and Simulation of High Speed Machine Tool Axes

Authors: Ph. POIGNET*, M. GAUTIER**, W. KHALIL**
Affiliation: * Laboratoire de Vision et Robotique de Bourges (A.S.A.R.),
U.P.R.E.S. E.A. 2078, I.U.T. de Bourges, 63 Ave de Lattre de Tassigny, 18 020 Bourges, FRANCE

** Institut de Recherche en Cybernétique de Nantes (IRCyN), U.M.R. C.N.R.S. 6597, 1 rue de la Noë, BP 92101, 44321 Nantes Cedex 03, FRANCE.

Abstract
This paper deals with the modeling, simulation and numerical control of a high speed machine tool axis. The dynamics of rigid bodies, the elasticity of bodies and mechanical transmission, the dynamics and saturations of electric actuators, the effect of numerical control as delays and quantization are considered for the simulation. The cascade IP speed loop and P position loop controller is computed using a frequency approach and an optimization procedure taking into account the lumped model and the effects of digital control. Experimental results on a real machine tool axis are also presented.

Philippe Poignet
Philippe.Poignet@bourges.univ-orleans.fr