Evaluation in disturbance force compensation via state observer and controller design

Phoo, Yoong Hau (2018) Evaluation in disturbance force compensation via state observer and controller design. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The basic requirement of a high accuracy and precise machine tool that must be met is that it is able to obtain a desired output with the given input. However, there is always some unexpected disturbance occur during the machining process such as vibration, friction and cutting force that will greatly affect the accuracy and precision of the machining output. Thus, this kind of disturbance force must be compensated or avoided in order to enhance accuracy and precision. Disturbance forces are usually hard to estimate and physical sensors have various disadvantages such as high cost and reduce reliability. A state observer may use to replace sensor to estimate the disturbance force. The aim of this project is to estimate and compensate disturbance force in simulated milling cutting process via state observer and controller design. The observer is designed based on the Pritschow (2004) method which reconstructs the disturbance forces that occur between the workpiece and the tool during the cutting process using relative acceleration. The position controller and the state observer are designed in MATLAB / SIMULINK environment. The control system is expected to be able to compensate effectively the input disturbance force that are inserted in the form of single sine signal and multi-sines signal. The controller performances are measured based on maximum tracking errors. Base on the result of analysis, the force observer has been proven that it is able to compensate the both single sine wave input disturbance and multi sine wave input disturbance. As the error between estimated signal and single sine wave input disturbance or multi sine wave input disturbance reduce 25.00% and 38.18% respectively when estimated signal from force observer is applied back into control loop.

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