Contour Tracking by Hybrid Force/Velocity Controlled Grinding: Comparison of Controllers ADRC - PID

Donder A., KONUKSEVEN E. İ.

World Congress on Engineering and Computer Science, WCES 2017, San-Francisco, Kostarika, 25 - 27 Ekim 2017, ss.760-765 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: San-Francisco
  • Basıldığı Ülke: Kostarika
  • Sayfa Sayıları: ss.760-765
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

In this study, grinding operation was performed on a work-piece with an unknown shape. As the control strategy, hybrid force/velocity control method was utilized using a PID controller and an Active Disturbance Rejection Controller (ADRC). Both control structures were implemented on an experimental setup and the results were compared. Results show that significant amount of effort can be saved in grinding operation on a work-piece with an unknown shape due to the elimination of CAD model dependent path planning processes.