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Dynamic Modeling and Adaptive Predictive Control (APC) of Drilling of Composite Materials
Ye Sheng, Masayoshi Tomizuka and Motoyoshi Ozaki
Abstract
Dynamic modeling and adaptive predictive control of
drilling force of composite materials are developed. A linear
dynamic model is applied to predict the drilling force
as a function of the drill feedrate. It can predict force locally
for the tuned case under the condition of small vari-
ation of operation range. An adaptive strategy is used to
estimate model parameters in real time so that the linear
model may be applied to the whole drilling process in the
situation of large variation of operation range. The loop
gain is assumed to be locally time invariant in the prediction
horizon and a multi-step ahead prediction model is
proposed. An adaptive predictive control strategy is utilized
to regulate the thrust force in the drilling process.
Simulation and experimental results are presented.
Keywords:
adaptive control, predictive control
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