別紙41 (課程博士(英文))Date of submission (令矛Π 1年07月

08

田

Depa11ment
Mechanlcal

S加dentlD NumberD169]04

En又lneeYing
へPP11Cam's nameProf. NaokiuchiyamaSupervisors

AbdaⅡah Farra目eAbdelrahiem Farrage

Prof. Kaiji sato

Abst川d (Docto")
Ti11e ofThesis

Adaptive NonlineaY contYol and Friction compensation
Motion and Energy saving ofMU]ti・Axis lndustrial systems

for pYecision

Approx 80o words

Due to the strong demand to produce very complicated industrial component
S wlth high accuracy in large quantities, sophisticated techn010gical eqUゆment and machinery such as computer numerical contr0Ⅱed (CNC) machines have been used. These machines actual]y operate a11 day and night a11 0ver t
he world in various industria] applications, consequently they are Yesponsibl
e for consuming a great amount of electrical energy consumption, therefore
Usage these machine leads to increase of energy problem in diverse industri

es. For this reason, reducing even a sn〕a11 Percentage of energy consumed b
y cNc machines can provide a significant reduction of the manufactured world energy consumption〆4'Control approaches that employ to manufacture industrial products using highControl gains, can genera11y enhance n〕otion accuracy of feed drive systen)S, butthey cause increase of manufacturing energy consumption. Thus, energy saving ofindustrial machines as we11 as motion accuracy have to be sin〕ultaneously
Considered. one n)ore cl〕a11enge in cNc machine tools is friction phenomena,
Which cannot bo negligible in case of producing hi今h accurate products to meethigh techn010gies required zero error. Friction adversely affects not only n)otionaccuracy but also excessively consumes energy of the control systems. This thesis
attempts to overcon〕e these problems occurred in industrialfecd drives, therea丘er
Improvement of the control performance and energy consun〕ption reduction ishlghly expected.1n order to enhance the motion accuracy in terms of tracking andContounng accuracies in machine tool feed drives, this thesis proposed various
approaches as f0110WS:. The new adaptive sliding mode contouring contr01 (ASMCC) has been
designed to reduce energy consun〕ption and n〕otional errors in a biaxialfeed

drive machine to01. The adaptation strategy a110wed control gains to beadjusted relying mainly on resultant contouring err01'S. once the resulted

Control errors are changed due to some disturbances, the control gain is
SimuHaneously updated to generate approprlate contYO] slgnal achieving aPreclsely track to desi王ed motion, Therefore, the adaptive contr011er could
Ial'gely reduce the contouring errors by 37.62% and 34.65% in computational
Silnulation and experiments W北hout the need to increase the consulned
energy under the Salne Contro] parameters, respectively.八10reover,

Consulned energy could be 11nproved by 8.20% compa王ed to non・adaptive.

Sliding mode control producing the Salne Contr01 Performance,approximately
In order to achieve highly precision parts, an estimation process forfrictional properties of a biaxial feed dTive has been applied. The updated

System parameters and meanwhile a disturbance observer (DOB) have beenCombined with the proposed adaptive contr011er (ASMCC) to decrease theContouring performance and the consumed energy. Experimental results
Confirmed that the mean and maximum contour errors were improved by
91.72% and 38.6% compared to using only ASMCC, respectively
Furthermore, energy consumption was reduced by o.898% and 2.05% for x
and Y axis, respectively.

The previous adaptation approach has been modified and reformulated tomeet high quality standards of industrial parts. A circular motion traject01'y
has been performed using an industrial machine to01. The new' adaptive
formula was able to update control gains not only through reachlng phase
but also during the sliding phase, therefore energy consumption reduction
and motion accuracy in each feed drive axis could be significantly improved
Moreover, the suggested adaptlve galns could be aexlbly updated dependlng
On the control performance. Thus, the mean and maxlmum trackin牙 errors
Were largely enhanced by 55.98% and 31.10% on average compared to a

general adaptlve law used ln many previous studies, respectlvely.1n.

add北ion, energy consumptlon of the proposed adaptation method wasSignificantly by 2.53%
The novel nonlinear friction mode was proposed to improve mechanlcal

Properties of feed drives a11eviating frictional errors. The introduced n〕odel.

Could comprise many unknown frlctiona] sources ln both low and highVelocity regions. Therefore, the friction compensator was able to precisely
describe actualfrictional a比itude in the machines, thus the proposed modelWith 北S highly precise knowledge of a nonlinear friction behavior could beeffectively reduced control e丘orts dissipated in compensation of unknown
hictional sources. The proposed n)odel consists of four frictional sources;
Coulomb friction, viscous friction, stribeck e丘ects, and a nonlinear 丘iction
term. The latter term is represented with the Fourier series, which can we11
describe any periodic signals. The proposed 丘ictional model was able tonexibly extend for many nonlinear tern)s until obtaining the best
description of the actualfriction behavior. Experiments have been repeatedfive times to ensure repetitiveness and accuracy ln energy and erYor
Ineasures
Experimental results show a significant enhancement of theProposed technlque on reducing control errors and energy consumption ineach feed drive axis. The mean tracking error resulted using the newfriction model was lowered to less than 5 μm for each axis. The controlinput
Variance has been also improved by 7.62% compared to a conventional
friction mode. consequently, consun)ed ener目y of feed drlves W'as
Si牙nificantly reduced by 12.83%
The final adaptive contr0Ⅱer was combined W北h a non11near h'ictional
Inodel to in侃'ease energy saving. Experiment results confirmed that thePresented combination could achieve significant enhancement on redudng
the tracking errors and energy consumption of an industrial feed drive
Compared to the proposed adaptive control appYoach combined 訊丁ith aClassical frlction modely