Electrical Feed Drivesfor

MachineTools
Edited by Hans Gross

Siemens Aktiengeselischaft
Dohn Wiley & Sons Limited
Authors;

Gottfried Stulc
FCarl-Heinz Bobcl
jurgen Hesscibach
Ulf Hodcl

Institut fiir Stcucrungstcchnik und Fcrtigungscinrichtungen an der Univcrsitt Stutlgart

(thc Institute of Control Theory for
Machine Tools and Manufacturing Equipmcnt.
at Univcrsity of Stuttgart)

Pctcr Stof
Translated by Daniela Vogelgesang
CIP-Kurztitelaufnahmc der Deutschen Bibliothek
Electrical feed drives for machine tools / ed. by Hans Gross. [Authors; Gottfried
Stute... Transl. by Daniela Vogelgesang]. - Berlin; Miinchen; Siemens-Aktiengesellschaft; Chichester: Wiley, 1983.
Dt. Ausg. u.d.T.: Elektrische Vorschubantriebe
fiir Werkzeugmaschinen
ISBN 3-8009-1377-1 (Siemens-Aktienges.)
ISBN 0-471-26273-0 (Wiley)
NE; Gross, Hans [Hrsg.]

British Library Cataloguing in Publication Data:

Electrical fced-drives for machine tools.
1. Machine-tools-Electric equipment
I. Gross, Hans
621.9'02 TJ1180
ISBN 0-471-26273-0
Library of Congress Cataloging in Publication Data:
Elektrische Vorschubantriebe fiir Werkzeugmaschinen.
English.
Electrical feed-drives for machine tools.
Translation of: Elektrische Vorschubantriebe fiir Werkzeugmaschinen.
Includes bibliographies and index.
1. Machine-tools-Electric driving. I. Gross, Hans. IL Title.
TK4059.M32E4413 1983 621.9'02 83-9410
ISBN 0-471-26273-0 (Wiley)
Title of German original edition:
Elektrische Vorschubantriebe fiir Werkzeugmaschinen
Siemens Aktiengeselischaft 1981
SBN 3-8009-1338-0
1983 by Siemens Aktiengeselischaft, Berlin and Munchen; John Wiley & Sons Ltd.,
Chichester
AII Righls Reserved. No part of this publication may be reproduced, stored in a retrieval
system, or transmitted, in any form or by any means electronic, photocopying, recording
or olherwise, without ihe prior permission of Siemens Aktiengeselischaft and John Wiley
& Sons Ltd.
Printed in the Federal Republic of Germany

Preface

Due to thc stcadily incrcasing manufacturing and pcrsonnel costs, incrcasing

productivity has recently become a stringent necessity. Electrical drives have
considcrably contributed to solving this problem in the area of the maehine
tool industry. They represent a cost-efficient engineering technique, which is
cconomical even for use on feed units that were previously moved manually
or with a central drive. Also, today's simple to operate, freely programmable
numerical controls require independently controlled drives with a wide speed
range.
Siemens has significantly contributed to this transition from mechanical and
hydraulic systems to electrical ones, and has brought on the market highly
dynamic converter-fed servo drives.
Due to their simple, robust construction, good dynamic properties, as well
as thcir high durability, these drives are opened to a wide field of applications.
Thc feed units of numerically controlled maehine tools and tracing machines
are positioned along programmed paths or with position control loops. The
increasing automation puts ever strictcr dcmands on these position control
loops. The velocity and the accuracy of the feed movements can be significantly
increased with the electrical drive.
For the further development of this engineering techniquc. Siemens A G sponsored special research studies centered on position control and feed drives at
the University of Stuttgart, Institute of Control Thcory for Maehine Tools
and Manufacturing Equipment. The theoretical tcchnical basics for position
control optimization have been worked out at this Institute, and procedures
for practicai measurements on applied position control loops have been developed. The long practicai experience that Siemens has in this arca was an impor
tant part of the project. The present volume summarizcs the results of the
scientific work at thc University, and thc practicai experience of start-ups,
design, development, and construction of these drives.
This book gives the basics necessary for thc daily tasks and thc procedures
to bc applicd to makc thc right intcrpretations and dccisions, for thc staff
in design and development offices, for sales and field engineers, and for service
tcchnicians.
Students of mechanical, electrical, and control engineering who would like to
get aquainted with the area of feed drive techniqiie, find here a comprehensive
presentation of the different fields.
Erlangen/Stuttgart, April 1983

(Prof, Dr.-Ing. Gollfried S tu i e )

(Sicgfricd Wal lc r)
Manager ol" ihc

Manager of the I n s l il u t e

M a i u i f a c u i r i n g I n d u s i r i c s Di vi si on
o f ihc Power E n gi n e e r i n g ane)

ol' Control Theory for jMacliine Tools

a n d Manufacturing Equipment

Autoinaiion Group of S i e m e n s AG

ai the Un i v e r s i t y ofStuUgarl

Contents

1
1.1
1.1.1
1.1.2
1.1.2.1
1.1.2.2
1.1.2.3
1.1.2.4
1.1.3
1.1.3.1
1.1.3.2
1.1.3.3
1.1.3.4

Feed Drive and Position Control Loop

13
Basics of Control Theory
13
Open and Closed Loop Control
13
Stationary Systems Behavior
14
Characteristic Ciirves
14
Lincarization
15
Normalized Values
16
Referenced Values
18
Dynamic Systems Behavior
18
Differential Equations
18
Transient Response
22
Frequency Response Curve
26
Bode Diagrain
29

1.1.3.5
1.1.3.6
1.1.3.7
1.2
1.2.1
1.2.2
1.2.2.1

Linkage of Transfer Elements

32
Frequency Response Curve Symbol for Control Loops ...34
Experimental Determination of the Frequency Response Curve
35
Basics of the Position Control Loop
36
Construction and Functioning of the Position Control Loop
36
Localization
38
Measuring Value Detection
38

1.2.2.2
1.2.2.3
1.2.3
1.2.3.1
1.2.3.2
1.2.3.3
1.2.3.4
1.3
1.3.1

1.3.3
1.3.4
1.3.5
1.3.6

Measuring Procedures
39
Location of Measurement
39
Characteristic Values and Propcrties of Position Control Loops
40
Dynamic Systems Behavior of Single Control Loop Elements
41
Explanation of Terms
44
Behavior of Linear Position Control Loops
44
Non-linearities in the Position Control Loop
50
Position Loop Gain
52
Position Control Loop Model
52
R a mp Distance for Thrcad Cutting
56
Contour Deviations on Corners
61
Contour Deviations on Circles
63
Disturbance Transient Response
66

1.3.7

Requirements for the Position Loop Gain

67

1.4

Bibliography
69

2
2.1

DC Motors for Feed Drives

70
Requirements for the Feed Drive
70

2.1.1
2.1.2

Requirements for Stationary Operation

70
Requirements for Non-stationary Operation
70

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