,

別紙4

1 (課程博士(英文))Date of submission (month day, year)

July B,2018

Depar[mentMEC王塾NICAL

StudentlD Number

D159106

ENGINEERING
へPpliC田]1's name

NAolaucHIYAMASupeYvisors

NOBUMASASEKISHITAYOGIMULDANIHENDRAWAN

Abstnct (Doct0日
Ita'ative Learning Refa'ence Trajectm'y Modification for c01〕touring pafon〕〕ance
Title ofThesis

Enhancement oflndustrial Machine TO0I Feed Drive systal]S(工作機械送り駆動系の輪郭制御性能向上のための繰返L学習に基づく参照軌道修正)
Approx.80o words
In industrial applicalions, highly acCⅧ'ate nlechanical con〕ponents m'e gena'a11y requh'ed to produce
advanced nlechanical and mechatronic systelns. Most ofuleln m'e produced by cNC (computa、 nulnericalContr01) 1〕)acl)ine tools. A fundalnental nlotion in cNc machine tools is a drive axial moveme11t to track adesired trajectory. Not only {racking errors in each dl'ive axis but also c01]tour el'r01'S,、Nhich al'e dil'ecdy
related to tl]e maC11ined sl〕ape of a 、¥orkpiece, and d)el、efm'e 北 nlust be consid飢'ed h〕 con訂'0Ⅱer design.
Although most existing contouring contr0Ⅱa'S ω'e based on feedback control and esthnated contour a'ror,
it iS σeneraⅡy difficult to replace d)e feedback contr0Ⅱa'in commercial cNc madlines tools.111 m'del' toilnprove tl〕e contourinσ Perfon11ance for con"nercial cNc nlacl〕ine tools, t11is thesiS 桝'esalts an it引'ative
Ieaming contouring contr0Ⅱa' aLCC) design with two contour 引'ror estimation approaches.
The proposed method is ilnplelnented i11tl〕ree types of cNc n〕achine tool feed drive systelns. First, aIabm'atm'y biaxial feed drive systeln is used to prove the pl'oposed met110ds pafonnance (chaptel' 3) INithestimated contour 団'ror compensation. Then, an lLcc is applied to a tlu'ee axis comn〕ercial cNC 11】achineto01(chal)tel' 4) by hnprove contour 引1勺r estimation、 Last, a machine to01、¥ith a linear motor n〕echaniS1η
is used as an advanced macl〕ine to01 (C11apt引、 5). AⅡ the description ofthe physical system configul'ationand systel〕] paralnet飢'S 磁'e explained in cl}apter 2.
An iterative leanling contouring contr0Ⅱer (1LCC) by considel'ing bot111rackil〕g and contour a'r01'S IS

Proposed in chapt引' 3. The proposed controliteratively modifies t11e reference lrajectory ofeach 山'ive axis
to reduce tl〕e contour en'or. T11e proposed contr0Ⅱer can be direcdy applied to commercial mad]ines
C1Ⅱ1でntly i11 Use 、¥ithout any l]〕odification of uleir o"ginal contr011ers. TI〕e pl'oposed n〕ethod has beenexperilnel〕ta11y verified through a biaxial feed drive systen〕 on a S11田、P‑con〕er trajectm'y 、NI〕ich nonnaⅡyIeads lo a larσe contour el'ror 雛'ound t11e corner due to t11e discontinuity. con]parison 、vith a conventional
iterative leanling contouring conu'011er (CILCC)、vas done so as to evaluate its pa'formance. Expel'il)1ental
results l)ave sho、入ln d〕at the contour a1でr convel'ges wiulin a fe、v ita'ations, and the maximU111 Contour

引1力r can be l'educed by about 49.2 % as colnpm'ed to the clLCC. The lin]itation of d]is nlethod is only

effective for a low curvaれlre trajectory.1t needs lnore iterations to track a 11ioh curvature trajectory.
An ita'ative leal'ning contouring contr0Ⅱer (1LCC) by considering tl〕e actual c01〕tour error con]pensation,、(ACEC) and tl〕e Bezia" reposition trajectory (BRT) is proposed in chapter 4 to ilnprove dle previous
Inet110d in chapter 3.圦lhile tl]e ACEc enhances trackinσ Perforlnance for a high curvature trajectory byCompensating the ref飢'ence input 、vitl〕 an actual contour error value, dle BRT enables snlooth velocity
transitions between discrete points in tl〕e refa'ence trajectory. For t11e perfonnance analysis, t11e proposed
Contr0Ⅱer was il〕]plelnented in a colnlnercialtl〕ree‑axis cNc macl〕ine tools and several experinlents wereConducted based on typica1 3D S11arp・con〕er and half・circular trajectories. Experilnental results S110、刃ed
t11atthe 御'oposed contr0Ⅱ引' could l'educe d〕e lnaximum and mean contour a1でrs by 45.11 ツ0 and 54.48 ツ0
On avel'age, C0111Pω、ed to lLcc with estinlated contour error. By colnpal'ing to lLCC 、入lith ACEC, tl〕emaxinNm and mean contour el'rors are reduced t020.54 % and 26.92 ツ0,1'espectively.
10 皿'ove dle effectiveness ofthe pl'oposed lnethod in an advanced con11nercial cNc machine toolsysteln,
it is ilnplelnented to a cNc lnachine to01、¥ith a linear lnotor lneC11anisln in chapter 5. A design of iterative
Ieanling conlouring contr011er (1LCC) by considering actualc01〕tour en'or con]pensation (ACEC) enhances
the contouring P引formance of linear motor cNc machine tool feed drive systems. The 即、oposed conⅡ'01
it引'atively nlodifies the reference trajecta'y of each drive axis to reduce dle cont0111'創1勺r. The pl'oposed
Contr0Ⅱer can be directly applied to a colnn1引'cial cNc nlacl〕ine to01 、vith a linear lnotor lnecl】anisl〕1Currently il〕 use without any modification of t11eir original contr011磁'S. TI]e effectiveness oft11e proposedn〕ealod has been expel'i111引)ta11y verified ソ、/i111 a rholnbus traject01'y. Expel'ilnenta11'esults sho、¥ed u〕at the御'oposed contr0Ⅱel' could reduce t11e maximum and mean contour err01's by 94.58 % and 88.67 % onava'age, con〕Pω'ed to o"ginal contl'011el'. conduding reln飢'ks and future 、Nm'ks m"e described in chaptel'
6.