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Tracking errors decreasing in CNC system of machinę tools 91

Fig. 6. Waveforms of velocity and position tracking errors in Y axis of milling machinę:

(a) motion velocity; position tracking errors for: (b) CNC system without feedforward compensation, (c) feedforward loop FF_p(ś) = 1 (Fig. 1, 2), (d) feedforward loop FF_s(s) = Js² and FF_p(s) = 1 (Fig. 1, 2), (e) feedforward loop FF_p(ś) = 1, FFJ_s) = Js² + Ds and motion unit resistance T_fr (Fig. 2); 0.01 rad = 26 increments, 1 increment = 2ji/16384 rad

There are very large tracking errors in case of CNC system without feedforward compensation (Fig. 6b). The feedforward loop (FFp(s) = 1) considerably decreases the tracking errors. The FF_V and FF_r feedforward loops (Tjj and Tjj) decrease tracking errors less. There wasn’t realised the machining process during measurement. Since the motion unit resistance was very smali, so the influence of FF_r for decreasing tracking errors was also smali.

Figurę 7 shows different waveforms of the tracking errors in Y axis for servo-drive configured as follows: position controller of type PI, velocity controller of type P and current controller of type PI. The PI position controller decreases tracking errors for steady State speed (Fig. 7b). The efficiency of tracking errors decreasing is less effective (Fig. 7c,d) because speed controller is of P type and its reaction is smalier on

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