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| Author(s): |
Luciano Antonio Frezzatto Santos
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | Campinas, SP. |
| Institution: | Universidade Estadual de Campinas (UNICAMP). Faculdade de Engenharia Mecânica |
| Defense date: | 2011-08-26 |
| Examining board members: |
João Maurício Rosário;
Ely Carneiro de Paiva;
Pedro Luis Dias Peres
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| Advisor: | João Maurício Rosário |
| Abstract | |
CNC machine tools are complex devices that execute automatic, precise and consistent movements. Aiming to improve the performance of these devices due to sudden changes on parameters associated to position, speed and acceleration while performing a given trajectory, it becomes indispensable the study of new control architectures. The flexible automation allows faster robotic devices, motivating the development of techniques that efficiently substitute classic PID controllers. This study aimed to implement an alternative method for driving a high-precision CNC cartesian device focusing on the development of a computing environment for movement planning and synthesis of controllers. The movement generation was performed by means of a spline interpolation method that ensured the continuity and smoothness of trajectory profiles. To ensure that these profiles were correctly executed by the cartesian device, two control techniques based on the model of the system were implemented in order to establish comparisons between their performances. Then, a simulation environment with open and flexible architecture was conceived, which allowed the validation of the proposed techniques besides analyzing the influence of external disturbances on the cartesian device behavior. Having the strategies been validated, the implementation in physical device was done using a FPGA board to embed the synthesized controllers. The results showed that the proposed strategies had good performance when applied to the CNC cartesian device. Furthermore, the tools developed in the study are general enough to be extended to other applications using CNC machine tools (AU) | |
| FAPESP's process: | 09/06975-8 - Implementation of control techniques for positioning of robotic junctions in machine-tool systems with open architecture. |
| Grantee: | Luciano Antonio Frezzatto Santos |
| Support Opportunities: | Scholarships in Brazil - Master |