A Supervisory Fuzzy Force Control of CNC HEXAGLIDE Robot<br/>

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A Supervisory Fuzzy Force Control of CNC HEXAGLIDE Robot

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 39206 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Alasti, Aria; Vossoughi, Gholamreza
Abstract:
In this paper, controlling the cutting force of an end-milling process using a supervisory fuzzy controller has been investigated. The proposed control consists of an ordinary fuzzy controller and a fuzzy supervisor. In a machining process, there are several parameters which do not contribute to the force control system directly. Therefore an ordinary fuzzy force controller is suitable when these parameter have only small amount of variations. Since in practice this assumption is not valid, then a supervisory fuzzy controller has been added to the system. The designed fuzzy supervisor, inspects the dynamic behavior of the cutting force, estimates a pre-defined ‘sensitivity’ parameter and then, cancels the output fluctuations due to this parameter variation. Numerous experiments are conducted to confirm the efficiency of the presented method.
Keywords:
Fuzzy Control ; Adaptation ; Cutting Force

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