ModellingandControlofaMachineToolUsingCo-Simulation.PDFVIP

SIMPACK User Meeting Eisenach, 2004 Modelling and Control of a Machine Tool Using Co-Simulation Alexandra Ratering Peter Eberhard Institute B of Mechanics Prof. Dr.-Ing. Peter Eberhard University of Stuttgart Outline introduction the Lambda Kinematic modelling • mechanical and mathematical model • equations of motion flatness • introduction to the concept of flatness • flatness analysis of the machine tool controller design • linear cascaded P-PI control • flatness based control simulation • simulation environment • comparison of control concepts conclusions Institute B of Mechanics Prof. Dr.-Ing. Peter Eberhard University of Stuttgart demand for highly Introduction productive machine tools (high velocities, large scale movements, …) development of • new machine types (parallel and hybrid kinematics) • new technologies (linear drives, lightweight structures, …) problem • assumption of independently controllable drives questionable • elastic properties become important • nonlinearities become important solution hierarchical controllers combining position control with methods of active vibration damping Institute B of Mechanics Prof. Dr.-Ing. Peter Eberhard University of Stuttgart the Lambda Kinematic Machine Tool • processing of plate-like workpieces (esp. wood processing)