Model-based disturbance attenuation for CNC machining centers in cutting process

A disturbance attenuation method in a control system, called the model-based disturbance attenuator (MBDA), is proposed, and its properties are studied. The MBDA makes the plant performs similarly to the nominal plant, as much as possible, using a compensator. Then, a controller is designed based on the nominal plant. It is shown that the MBDA is extremely robust with respect to large variations of load inertia. The MBDA is implemented in a position control system of a computer numerical control (CNC) machining center, where the velocity control system is composed of a servo-pack (PI controller), a servo motor, and a load. The MBDA attenuates external disturbances significantly in the cutting process containing high-frequency components, as well as the frictional forces containing large DC component. Several other controllers are also implemented in a position control system of a CNC machining center in a similar way as the MBDA, and the experimental results are compared with one another.