Experimental dataset for model identification and validation of position controllers on a ball screw test bench.

This dataset belongs to the Open Access publication "Robust µ parameterization with low tuning complexity of cascaded control for feed drives" (doi: 10.1016/j.conengprac.2023.105607). A detailed description of the setup can be found in the publication.

Velocity controller:

PI velocity controller with Kp = 175, Ki = 11.

Position controllers:

P position controller with Kp = 53. Nominal sliding mode controller (nSMC or PPC) based on norminal PT2I model with lambda = [-250 -250 -250]. Robustly-tuned sliding mode controller (rSMC or RSMC) tuned via mu-synthesis with k = 610.4625, p = [51883 188.5168 1].

Feedforward:

Please refer to control_parameters.txt in this dataset for more detailed information.

The dataset contains the following folders (Please refer to corresponding parameters.txt for more details):

(Notice: For identification, velocity control is active, position control is inactive.)

Identification/ImpulseResponse   measurement for identification with impulse hammer to estimate the disturbance response of PI velocity control loop (with constant velocity reference vRef = 8mm/s)

Identification/VelocitySweeps measurements for identification with velocity sweeps to estimate the PT2I approximation of PI velocity control loop (with constant velocity offset + sweeps as reference)

(Notice: For validation, velocity control and position control are both active.)

Validation/FrequencyDomain/disturbance_force_PRBS  measurements for validation with PRBS disturbance forces generated by linear direct drive (velocity offset 8mm/s, PRBS disturbance forces)
Validation/FrequencyDomain/tracking_pos_PRBS  measurements for validation with PRBS position reference (velocity offset 8mm/s + PRBS position reference)
Validation/TimeDomain/disturbance_milling  measurements for validation with milling forces (velocity offset 8mm/s)

Validation/TimeDomain/disturbance_steps measurements for validation with steps-shaped disturbance forces (velocity offset 8mm/s) Validation/TimeDomain/tracking_7PhaseProfile measurements for validation with 7 phase profile as reference (maximum velocity: 300mm/s and 700mm/s)

Notice: To analyze the disturbance response (while disturbance forces acting directly on the working table), we used an impulse hammer to generate disturbance forces for identification, and the linear direct drive for validation.