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1、HighspeedCNCsystemdesignAbstractAservocontrolsystemcapableofdeliveringrapidandaccuratefeedmotionisanecessityforhighspeedmachinetools.Thecontrollawmustbedesignedtoprovideahightrackingbandwidthaswellasadequatedisturbancerejectionandparametervariationrobustness,inorderminimizethefollowingerr
2、orsineachaxis.Thisalsocontributestotheminimizationofthecontourerrorsinthemachinedpart.Thispaperprovidesasystematicapproachfordesigningsuchacontrollaw.Position,velocity,anddisturbanceestimatesareobtainedusingaKalmanfilter.Thefeedbackloopisclosedusingapoleplacementcontrollerwithdisturbancec
3、ancellation,inordertocounteractthedetrimentaleffectsoffriction,cuttingforces,anddriveparametervariations.Theoveralltrackingbandwidthiswidenedbycompensatingfortheclosedloopdynamicsinafeedforwardmanner.Also,thetrackingerrorsduetofrictiontransientsatthecornersandarcquadrantsarereducedbypreco
4、mpensatingfortheexpectedfrictionforces.Thecontributionofeachcomponentinthecontrolschemetothecontouringaccuracyhasbeenexperimentallyverified,andtheoverallcontouringperformancehasbeendemonstratedinhighspeedmachiningtests.Theexperimentalresultswereobtainedusingthesmoothtrajectorygenerational
5、gorithmandidentifiedaxisandfrictionmodelswhichhavebeenpresentedinPartsIandIIrespectively,ofthispaper.1.IntroductionHighspeedmachiningtechniquesrequirefasterfeedmotionbetweenthetoolandworkpiece,inproportiontotheincreasedspindlespeed.However,duetothelimitedbandwidthachievablebyusingonlyP,PD
6、,orPIDtypesofservocontrollers,whicharethemostcommononesusedinindustrialCNCs,therewillbetrackingerrorsineachaxisastheclosedloopcontrolsystemisnotabletofollowtherapidlyvaryingpositioncommands[1].Ontheotherhand,thefrictionintheguideways,aswellascuttingforcesconstitutedisturbancestotheservolo
7、op,whicharedetrimentaltothetrackingaccuracy.Furthermore,eveniftheservocontrolleristunedtomaintainaccuratetrackingathighspeeds,theperformancemaydegradeifthedriveparameterschangeduetovaryingworkpiecemassandlubricationconditions.Thedisturbanceandparametervariationsensi
