Validation data for comparison of SMC-PI controllers vs. P-PI controller

Experimental comparison for sliding mode position controllers vs. P position controller. Please refer to Readme.md contained in the dataset for more detailed information. SMC-like controllers are: Quasi SMC qSMC with sign(s)~s/(|s| + \epsilon), k_s = 1250, epsilon=5, varying gain lambda_q linear SMC-like Controller with varying gain lambda_l Two P position controllers are used: k_v = 50 1/s with velocity feedforward k_v = 35 1/s with velocity and acceleration feedforward The dataset contains the following folders: PT2I_selection ... measurements with PT2I model parameters, feedforward only, feedback control is off lSMC ... measurements with lSMC with varying gain qSMC ... measurements with qSMC with varying gain PPI ... measurements with P position controller as described above MillingSim ... simulated HPC milling forces induced on table, all controllers (lSMC, qSMC with gain 250) variation_m_l ... added mass of 105 kg and 210 kg table, all controllers (lSMC, qSMC with gain 250) variation_om0_D ... model parameters omega_0, D varied by 10% (and 20%, D only), all controllers (lSMC, qSMC with gain 250) Measurement names: DStep ... Disturbance steps of 1kN on table (with linear direct drive) DSweep ... Disturbance sweep signal on table (with linear direct drive) PRBS ... PRBS on position controlled motor for frequency domain analysis SPP_0_3 ... jerk limited profile (see signal `traj_KGT`, v_max=0.3 m/s) for time domain analysis SPP_0_7 ... jerk limited profile (see signal `traj_KGT`, v_max=0.7 m/s) for time domain analysis Abbreviations used in data/metadata: LDA/LDD ... linear direct drive KGT/BSC ... ball screw drive

本实验对比了滑动模式位置控制器与P位置控制器。详情请参阅数据集中包含的Readme.md文件。类似SMC的控制器包括：带有符号s/(|s| + epsilon)的准SMC qSMC，k_s = 1250，epsilon=5，线性增益λ_q变化的线性SMC类似控制器，以及增益λ_l变化的P位置控制器，其中使用两个P位置控制器：k_v = 50 1/s，仅含速度前馈；k_v = 35 1/s，包含速度和加速度前馈。数据集包含以下文件夹：PT2I_selection ... 包含PT2I模型参数的测量，仅前馈，反馈控制关闭；lSMC ... 包含增益变化的lSMC测量；qSMC ... 包含增益变化的qSMC测量；PPI ... 包含上述描述的P位置控制器的测量；MillingSim ... 模拟的高性能计算铣削力，所有控制器（lSMC，增益为250的qSMC）的测量；variation_m_l ... 表格质量增加至105 kg和210 kg，所有控制器（lSMC，增益为250的qSMC）的测量；variation_om0_D ... 模型参数ω_0，D变化10%（和20%，仅D）的所有控制器（lSMC，增益为250的qSMC）的测量。测量名称：DStep ... 表格上1kN的干扰步进（带有线性直接驱动）；DSweep ... 表格上的干扰扫描信号（带有线性直接驱动）；PRBS ... 用于频域分析的电机位置控制的PRBS；SPP_0_3 ... 刹车限制的轮廓（见信号`traj_KGT`，v_max=0.3 m/s），用于时域分析；SPP_0_7 ... 刹车限制的轮廓（见信号`traj_KGT`，v_max=0.7 m/s），用于时域分析。数据/元数据中使用的缩写：LDA/LDD ... 线性直接驱动；KGT/BSC ... 滚柱丝杠驱动。