Optimization of Servo Gain Parameters for CNC Lathe Machine Using Siemens Sinumerik 828D

Rohman, Abdul (2017) Optimization of Servo Gain Parameters for CNC Lathe Machine Using Siemens Sinumerik 828D. Diploma thesis, Universitas Al Azhar Indonesia.

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Abstract

This research discusses about controlling gain including proportional gains (KP), integral time (Tn) and position controller (KV) parameters of a Brushless DC (BLDC) servomotor. The BLDC servomotor is often used to run universal lathe machine. The most common problems for lathe machines are in error of speed and position of the motor to draw a specimen. The error can cause bad performance in the machine. The calculated error of speed is defined as the rotational angle, and while the error of position is defined as the movement of the motor. One of the solutions is by optimizing the system using good controller. In this research, study was done to optimize proportional gains (KP), integral time (Tn) and position controller (KV) parameters of the control system using Sinumerik 828D. Before optimization process, the system was simulated with Matlab using the Ziegler Nichols. The result of Ziegler-Nichols is KP value parameter. The value of KV and Tn resulted from auto tuning process on Sinumerik. The KP parameter was later used as guideline in adjusting parameters during simulation. The KP error from Ziegler-Nichols was later used as reference for comparing error resulted simulation. There are two types of adjusting parameters in simulation: adjusting KP parameters only and adjusting KP, KV, and Tn Parameters with the range 0% - 1000000% until obtaining the minimum error. Applying KP parameter value obtained from Ziegler-Nichols method into Matlab simulation resulted in minimum error of 0.007954 degrees. However by KP tuning in Matlab resulted in minimum error of 0.003474 degrees and in Sinumerik resulted in minimum error about 0.00254. For applying KP, KV, and Tn parameter value obtained from Ziegler-Nichols method into Matlab simulation resulted in minimum error 0.007954 degrees. However by KP, KV, and Tn tuning in Matlab resulted in minimum error of 0.003474 degrees and in Sinumerik resulted in 0.10817 degrees. The followings are results of position error of testing with load using three types of tuning process. In this particular work, due to Sinumerik with frequency of 3 Hz was used. From bode plot diagram resulted from auto tuning process, resulted error was -19.147 degree. Using KP parameter value of minimum error from Sinumerik error resulted was -19.237 degrees. Using KP, KV, and Tn parameter value of minimum error from Sinumerik error resulted was -19.061 degrees. The followings are results of speed error of testing with load using three types of tuning process. In this particular work, due to Sinumerik with frequency of 3 Hz was used. From bode plot diagram resulted from auto tuning process, resulted error was -1.833 degree. Using KP parameter value of minimum error from Sinumerik error resulted was -1.618 degrees. Using KP, KV, and Tn parameter value of minimum error from Sinumerik error resulted was -1.833 degrees.

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