Robust position control of machine tools in consideration of disturbance and variant tracking behav-ior

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To ensure the competitivness companies need to work more productively and therefore production machines and machine tools must fulfil increasing demands on productivity and accuracy. The machine structure can be considered as a dynamic system, which limits the achievable production speed by their damping. As remedy mechanical components with higher quality but also higher acquisition cost can be applied. On the other side controllers can be optimized to minimize the tenden-cy of vibration at higher traverse speeds. Thereby the parameters of the position controller are a compromise between productivity and accuracy, because of their influence on the damping. Aggravating a position depending behavior of feed drives consisting of ball screw drives occurs, which limits the controller parameters to be configured for the worst transfer behavior of all axis. In this project a new approach will be pursued to design a robust position controller with the background of uncertainties concerning a position dependent behavior and disturbances out of process forces.The objective of this project is the development of a method to design a robust position controller, which increases the dynamic of feed drive under the condition of equal workpiece quality. There-fore several variants of robust controllers will be analyzed and a general method to design robust position controllers will be evolved. The effectiveness of the method will be validated by experimental trials at a machine tool.