Gain-Scheduling Approaches for Active Damping of a Milling Spindle with Speed-Dependent Dynamics

TL;DRAbstract

Chatter vibrations in high-speed-milling operations can be avoided by in-creasing the damping of the spindle. Using an electromagnetic actuator active damp-ing is implemented in a prototype of an adaptronic spindle and via µ-synthesis ro-bust controllers for two extreme spindle speeds are designed. To apply active damp-ing in the whole speed range gain scheduling techniques have to be used, since the spindle's ball bearings show speed-dependent radial stiffness. Three approaches for such active control are presented and tested at the prototype: switching of con-trollers with focus on bumpless transfer using an observer-like structure, fuzzy gain scheduling and gain scheduling of controllers' poles, zeros, and gain.

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