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CNC Sevo

The document describes modeling and simulating the servo feed system of a CNC machine tool using MATLAB/Simulink. It establishes mathematical and simulation models of the mechanical transmission mechanism and PMSM vector control system. It then designs an ANFIS-PID controller to adaptively adjust the PID gains according to system characteristics and uncertainties. The effectiveness of the new servo feed system and controller is verified through simulation.

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0% found this document useful (0 votes)
53 views5 pages

CNC Sevo

The document describes modeling and simulating the servo feed system of a CNC machine tool using MATLAB/Simulink. It establishes mathematical and simulation models of the mechanical transmission mechanism and PMSM vector control system. It then designs an ANFIS-PID controller to adaptively adjust the PID gains according to system characteristics and uncertainties. The effectiveness of the new servo feed system and controller is verified through simulation.

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Modeling and simulation of servo feed system of CNC machine tool

based on Matlab/Simulink

Subom Yun1, Onjoeng Sim1, Unchol Ri2, Jusong Rim3


1. Faculty of machine engineering, Hui chon Industry University, Hui chon, Democratic People’s
Republic of Korea
2. Faculty of Machine Engineering, Ham Hung University of hydraulics and power , Ham Hung ,
Democratic People’s Republic of Korea
3. Department of Control Science, University of Sciences, Pyongyang, DPR of Korea

Corresponding author. E-mail address: [email protected]

Abstract
In the industry, CNC machine tools play an irreplaceable role. It not only realizes the rapid
industrial production, but also saves manpower and material resources. It is the symbol of
modernization. As an important part of CNC machine tools, feed system plays a very important role on
the processing process; it refers to the product's quality problems. According to the principle of
mechanical dynamics, I establish a mathematical model of machine tool feed drive system and use
Simulink(dynamic simulation tool) in MATLAB to construct the simulation model of the feed system
of lathe. We also designed the ANFIS-PID controller to cope with the mathematical model of the
complex object and the model uncertainty that exists when there is external noise. These efforts offer
effective foundation for the improvement of CNC machine tool.
Keywords-CNC machine tool, Feed system, MATLAB/Simulation, ANFIS-PID, Modeling

1. Introduction the feed system of a CNC machine tool and


Servo feed system is an important part of designed a new servo feed system that can
CNC machine tool. In a certain extent, servo guarantee its feed accuracy even if there is
systems of the static and dynamic performance uncertainty in the system.
determine the CNC machine tool accuracy Then the effectiveness was verified through
stability, reliability and efficiency of machining. simulation.
Based on PID control of CNC machine tool
servo adjusting controller parameters is the key 2. Modeling of feed servo system for CNC
to the CNC system [1]. machine tool
Many occasions are using the simplified The motor of the servo drive system adopts
model and the actual operation experience to PMSM. In the Matlab/Simulink environment
determine the parameters of the regulator. The establishing and combining the vector control
simplified model will give the PID parameter simulation model, PID controller simulation
tuning result error. model , Sinusoidal Pulse- Width
However, adaptive control theory has recently Modulation(SPWM)simulation model, PMSM
emerged, and it is used for control of various and inverter simulation model and other
objects such as process control. One of them is functional modules. [3]
ANFIS-PID control theory which adaptively Speed and current double closed loop
adjusts the gain of the PID controller according simulation model of permanent magnet
to the characteristics of the object. [2] synchronous motor control system is
This paper prepared a mathematical model of constructed.
The simulation model of PMSM vector
motor (q (t )) ; the output is the movement of the
control system is shown in Fig.2.
The mechanical transmission mechanism is
execution unit ( X (t )) . The schematic diagram a
composed of the drive motor, coupling,ball
screw pair, screw bearing, screw nut bench, gram of the mechanical transmission
etc[4]. The input of mechanical transmission mechanism,as shown in Fig.3.
system is the angular displacement of the servo

Fig.1 The structure diagram of the CNC machine tool feed system

Fig.2 The simulation model of PMSM vector control system

damping and disturbance torque of the


mechanical transmission device are distributed
among the units and units.

Fig.3 The schematic diagram of the mechanical


transmission mechanism
In Fig.3,there are rigid elements and viscous Fig.4 The dynamic model of the mechanical
elements. Damping and torque are preventing in transmission device
each moment of inertia. The system can he In Fig. 4,the coupling is equivalent to an
divided into three units: motor, screw,bench[5]. elastic coefficient Kl, damping coefficient B1.
As shown in Fig.4,the stiffness,inertia, The screw nut is equivalent to the elastic
coefficient K2, damping coefficient B2. Moment to control the controlled object, therefore calls
of inertia of the motor and coupling equivalent to the PID controller, the control law(expressed in
the moment of inertia of the motor shaft-J1. The transfer function) as follows:
moment of inertia of the screw is J2, and the
moment of inertia of the bench is J3. Driving
torque of the motor is Tm,driving torque of the
screw is T1,and driving torque of the bench is In the computer control, the discretization of
T2. The output angle of the motor and shaft is the digital PID controller, the basic algorithm is
equivalent to the output angle of the motor as follows:
shaft- q1 .The output angle of the screw is q 2 ,

the output angle of the bench is q3 [6].


In the equation:
3. Modeling of feed system u(k)- k moment control of PID controller
Servo system structure is shown in Fig. l, the output;
position loop(outer ring) in many of the KP - ratio;
transmission parts such as precision lead screw, Ki - integral coefficient;
nut vice friction characteristics, clearance, rigid Kd - differential coefficient;
is nonlinear, so the system is a multi-variable and e(k) - k time error.
time-varying parameters, nonlinear and strong
coupling systems[7]. Conventional PID setting 4.2. Design of ANFIS-PID controller
method because of the low accuracy, adjust the An ANFIS-PID controller consists of two PID
parameter will not be able to meet their demands controllers and an ANFIS controller, its structure
for dynamic performance, etc. is shown in Fig 5.
In the simulation study, assume that the servo Fuzzy self-tuning PID design idea is to find
system of the mechanical part has rigid out the three parameters of PID and fuzzy
connection. Ignore the time delay of the system. relationship between deviation and deviation rate,
The electrical part approximately ideal.[8] in the work through continuous testing e and ec,
Available transfer function of servo motor is in according to the principle of fuzzy control
as follows: three parameters of PID correction online, to
meet different e and ec to the controller
parameters.
The different requirements, and make the
controlled object has a good dynamic and static
4. ANFIS-PID control system design performance. Its working process can be roughly
divided into several steps: first, the controller
4.1. Principle of PID Controller input blurred; Secondly, on the basis of fuzzy
PID controller [9] is a linear controller, it control rules, fuzzy logic reasoning, it is
according to the given value r(t) and the actual concluded that the fuzzy output of the controller;
output value u(t) to contro1 deviation e(t), Third, the fuzzy output multiplied by the
namely: quantitative factors to get accurate quantity
namely three PID parameters adjustment
quantity; Finally, the three parameters of PID
Deviation ratio (P-proportion), integral adjustment amount respectively with PID initial
(I-integral) and differential (D-differential), value addition get new PID control parameters.
through the linear combination of control volume,
Fig. 5 Configuration of the block diagram of Fig.6 2 input 1 output fuzzy model creation
ANFIS-PID control system
Fuzzy self-tuning Pm controller to adjust the
PID parameters calculation formula is:

In the formula:
KP', Ki', Kd` is the initial value of KP, Ki, Kd

is the adjustment of the


control output of the output value.
The controller output value is the feed rate of Fig.7 Set membership functions
the feed servo motor.
The following steps are used to create a
mathematical model using MATLAB.
1) Select a morphological model (paper:
Sugeno model)
2) Select the following membership function
(paper: gaussmf)
3) Proceed to place the membership function
according to the set interval and create the
ambiguity rule. (Paper: Write 49 rules)
4) Expressed as ANFIS
5) When the rule creation is completed, it is
saved as a * .fis file.[2]
Fig.8 Adaptive neural network form
Figure 6, 7, and 8 show constructed the fuzzy
representation of fuzzy rules
rule by the fuzzy editor and the neural network
model.
As shown in Fig. 5, we construct the control Using the controller designed as above, we
system and proceed with the simulation. constructed the CNC machine tool control
system and simulated it.
We conducted simulations by applying
high-frequency noise to the steering object.
As you can see in the Fig 9, adaptability,
stability, and acceleration are completely
improved compared to the PID control system. ment of Servo Control Characteristics of Ultr
a Precision Machine Tools by ANFIS-PID C
ontroller. General Science and Philosophy, vi
Xra:1804.0402.
[3] Hongzhi Su, Modeling and simulation of
PID control of NC machine tool servo syste
m [J].International Mechatronics technology, 2
3(2010)37-39
[4] Yu Song, Guoding Chen, shuwen Ma, Re
Fig. 9 Simulation result search on mathematical model and simulation
As a result of designing and applying the of AC servo system[J] . Mechanical Design
ANFIS-PID controller, which is an intelligent and Research, 37(2010)9-12
manipulation model, the modeling of the feed [5] Da song SHU, Application of the Fuzzy
system of the CNC machine tool, the newly Controller to the Servo System of NC Machi
designed manipulation system is very good and ne Tool. Techniques of Automation & Applic
stable in adaptability and inertia compared with ations; 29(2010)33-36.
the previous PID manipulation system. [6] Ruo gu ZHOU, Modeling and Simulation
We reaffirmed through research that designing of Fuzzy Self-tuning Control of the Feed S
and applying most of the control systems applied ervo System. Journal of WUT(Information &
to the machine tool delivery system can be very Management Engineering); 33(2011)47-50
effective. [7] Guang yuan CHAI, et al., The Study of
Fuzzy-Immune-Adaptive-PID Control in CNC
Conclusion Feeding Servo System Modular Machine To
In this study, the transfer function is created ol & Automatic Manufacturing Technique. 8
based on the dynamical model of the feed system (2009)74-77
of CNC machine tool and the simulation is made [8] Kiam, H, "PID Control System Analysis,
in MATLAB/SIMULINK. Design and Technology", IEEE Trans. on C
Also, we applied intelligent steering which ontrol Systems Technology, 13(2005)559-576.
adaptively follows the amplified sides of [9] Hmouz Al, et, al., Modeling and Simulati
previous PID controller to respond quickly to the on of an Adaptive Neuro-Fuzzy Inference Sy
change of target characteristics. stem (ANFIS) for Mobile. IEEE Transaction
The ANFIS-PID controller responds to the on Learning Technologies 5(2012)226-237.
model uncertainty of the object and exits the
result so that it can respond very quickly and
accurately.
This has been proven from the simulation
results.

Reference
[1] Feng-gong SHA,Jun GAO. Study on mo
deling and simulation of multi-inertia servo s
ystem of CNC machine tool based on Simuli
nk. Hydro-mechatronics Engineering, 24(2015)
1001-3881
*
[2] Su Bom Yun a , A Study on the Improve

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