On Electric Feed Drive Feedforward Autotuning

Abstract

The electric feed drive used in metal-cutting machines, like any precision electric drive, requires a high accuracy of reference processing and insensitivity to the disturbances. In order to do so, feedforwards are added to the control system to speed up reference processing and compensate for the disturbances. Feedforwards are usually set up manually when the machine is being set up, either by applying a series of test actions to the motor, or by calculation. The calculation requires information about the disturbance values, which can be compensated by corresponding feedforwards, but this data is not always available a priori. In this paper, we propose to tune the feedforward coefficients based on the results of parametric identification of the values of the torques applied to the electric drive, as well as its inertia. The method of tuning the parameters of the control system of electric feed drive based on parametric identification is proposed. The results of control system modeling show both high identification accuracy and significant reduction of dynamic control error when feedforwards are enabled.