Replication Data for: Robust µ parameterization with low tuning complexity of cascaded control for feed drives

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.

本实验数据集旨在对球丝测试台上的位置控制器进行模型识别与验证。该数据集收录于开放获取出版物《具有低调谐复杂度的级联控制鲁棒μ参数化》（doi: 10.1016/j.conengprac.2023.105607）。关于实验设置的详细描述可参见该出版物。速度控制器：采用比例积分（PI）速度控制器，其中Kp = 175，Ki = 11。位置控制器：采用比例（P）位置控制器，Kp = 53。基于标准PT2I模型的典型滑动模态控制器（nSMC或PPC），其λ值为[-250 -250 -250]。通过μ合成技术进行鲁棒调谐的滑动模态控制器（rSMC或RSMC），调谐参数为k = 610.4625，p = [51883 188.5168 1]。前馈控制：请参阅数据集中的control_parameters.txt文件以获取更详细的资料。该数据集包含以下文件夹（请注意：在进行识别时，速度控制处于激活状态，而位置控制处于非激活状态。）（注意：在验证过程中，速度控制和位置控制均处于激活状态。）：

识别/脉冲响应测量：使用冲击锤进行脉冲响应测量，以估计PI速度控制回路的扰动响应（以恒定速度参考值vRef = 8mm/s为基准）。识别/速度扫描测量：使用速度扫描进行识别测量，以估计PI速度控制回路的PT2I近似（以恒定速度偏移+扫描作为参考）。

验证/频域/扰动力PRBS测量：使用线性直接驱动生成的PRBS扰动力进行验证。验证/频域/跟踪位置PRBS测量：使用PRBS位置参考进行验证（以速度偏移8mm/s + PRBS位置参考为基准）。验证/时域/铣削力测量：使用铣削力进行验证（速度偏移8mm/s）。验证/时域/阶跃形扰动力测量：使用阶跃形扰动力进行验证（速度偏移8mm/s）。验证/时域/7相轮廓跟踪测量：以7相轮廓为参考进行验证（最大速度：300mm/s和700mm/s）。注意：为了分析扰动响应（在扰动力直接作用于工作台的情况下），我们使用冲击锤生成识别用扰动力，并使用线性直接驱动进行验证。