Cutting Force Compensation Analysis Using Sliding Mode Control

Chiew , Tsung Heng (2011) Cutting Force Compensation Analysis Using Sliding Mode Control. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is focused on the cutting force compensation analysis using sliding mode control. In milling process, there are disturbance forces that affect the cutting performance. One of the disturbance forces is cutting force. In order to compensate the cutting force, the sliding mode control which is a robust controller is designed and applied. As the cutting force is influenced by the cutting parameters, the characteristic of the cutting force with different cutting condition is identified and determined through experiment. The Kistler dynamometer is used to collect the data of cutting force along x-axis during end milling process on aluminium work piece.The data collected through experiment is analyzed using Fast Fourier Transformation (FFT) to produce spectral analysis. Two main components of sliding mode control namely; switching function and control laws are considered and designed. By developing the switching function and control laws based on the system of previous work in literature, the Simulink diagram is designed and formed. Two approach of signum function which is ideal sliding motion and pseudo sliding motion are designed. The parameters namely; lamda, gain, K, and delta,& for both controllers are obtained through trial and error method. It is noticed that the ideal sliding motion produced output signal with chattering phenomenon while the pseudo sliding motion produced smooth output signals. This verified that pseudo sliding motion is a method that able to solve chattering problem ideal sliding motion as suggested in literature. The compensation results are captured and analyzed. It is found that the designed controller can almost reduce the tracking error of system with the presence of cutting forces. Lastly, the performance of the sliding mode control is compared to the classical PID controller. It is found that the performance of sliding mode control is better than the classical PID controller. The analysis results are then concluded and other methods of solving chattering problem mentioned in literature are suggested to be proven in future study.

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