Commande à gains variables de l’erreur de contour pour l’usinage multiaxes

Abstract : The advanced machining techniques are always the backbone of the manufacturing industries. Among such techniques, high speed machining is the main subject of this PhD thesis. Indeed, the main objective of this work is to improve the contouring accuracy in multi-axis high speed machining of free-form surfaces, directly acting inside the axis control loops. To do that, a first step aims at elaborating a strategy to estimate as accurately as possible the contour error for different tool configurations. This contour error is then minimized by means of an off-line adaptation for a given profile of the proportional and feedforward gains of the axis position loop controllers. This gain adaptation is performed via an optimization algorithm that considers a nonlinear model of the machine behaviour, in particular including friction related to each axis. This optimization leading to the controllers gains takes into account several constraints, including the axis kinematic (velocity, acceleration and jerk) limitations, the stability of the controlled loops and the motor current limits. Finally, to help their integration within an industrial framework, the developed strategies can be directly implemented in commercial CNC, by exploiting all possibilities of the classical control structure of axis drive.
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Tan Quang Duong. Commande à gains variables de l’erreur de contour pour l’usinage multiaxes. Autre. Université Paris-Saclay, 2018. Français. ⟨NNT : 2018SACLC009⟩. ⟨tel-02144591⟩

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