An Integrated Lattice Filter Adaptive Control System for Time-Varying CMM Structural Vibration Control, Part 2: Experimental Implementation

Abstract

The integrated fast lattice filter adaptive control algorithm developed in Part 1 of this paper will be implemented for the control of the structural vibration of a coordinate measuring machine (CMM). The structural vibration of a CMM exhibits time-varying dynamic characteristics. For auxiliary control, the probe head acceleration was measured to compute the voltage input to the servo motor of the CMM. The developed algorithm uses directly the lattice filter parameters to track and control the CMM structural dynamics and is implemented on a Sheffield horizontal arm Coordinate Measuring Machine using a floating point Digital Signal Processor TMS320C30. Through experiments, significant reduction of the CMM settling time has been achieved by suppressing the structural vibration. In certain configurations, the reduction was 95 percent.