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MID-II DISCRIPTIVE EXAMINATION A.Y-2022-23

IV B. Tech II SEM
MID EXAMINATIONS- II _ KEY

Q.NO Question

1 A Illustrate tool offsets and work offsets in detail?

A CNC machine is controlled by a computer that is connected to motors and

those motors drive to move the physical components of the machine function.
The positions these components are moved in are defined using the Cartesian
Coordinate System. The machines physical axes typically align with the X, Y
and Z axis of the Cartesian Coordinate System. This allows the machine to
move either the tool or the workpiece into a position in 3-dimensional space.

For a common Vertical Machining Center (Milling machine), this would have
the machine move in the following way:

· Z-Axis – Up to max limit (this is the spindle axis. It moves up and down on a
VMC)
· Y-Axis – Forward or back to max limit. Direction will be dependent on how
the manufacturers set up the machine
· X-Axis – Left or right to max limit. Direction will be dependent on how the
manufacturers set up the machine

For the remainder of this article, we will assume the machine will send the X
and Y axes to the negative limit of the machine’s travel. The following image
illustrates the total travel envelope the machine is able to operate in, as viewed
from the top with the X & Y zero being set at the machine’s home position
(bottom left corner).
 The red arrow indicates the X-axis positive direction (left/right with right
being a positive direction move), and the green arrow indicates the Y-axis
positive direction (forward and backward with a move going to the back as a
positive move)

B Discuss the various drives used in machine tool with diagrams.

2 A Explain auto-tuning by the method based on relay feedback.

PID autotuning algorithms based on relay feedback are used to identify

different options of the process frequency response before performing the
actual tuning procedure.These algorithms require minimal amount of priori
information about the controlled process, they are also insensitive to
modelling errors and disturbances.In this paper,a PID autotuning procedure
implimentation based on Astrom and Hagglund’s method(1984) is
presented.The procedure is based on the estimation of the ultimate gain
ultimate frequency using a relay test signal in closed loop.The PID parameters
are calculated using the Ziegler-Nichols tuning rules.In the case where the
system is completely unknown,an initial tuning is required before the system
can reach the set point,afterwards,a more accurate estimation is made.In case
of linear systems,the ultimate gain and the ultimate frequency extracted from
the initial tuning are expected to be similar to those extracted from the
tuning.In case of nonlinear systems, estimation should be conducted for each
change of the set point.Furthermore,the PID parameters extracted in the
procedure can be used either for initialisation of other advanced optimization
algorithms or for caliberating complicated adaptive regulators. This paper
presents a PID autotuning procedure based on Astrom and Hagglund's
method. This procedure is able to tune a PID controller without using
preliminary experiments, modeling or external tools.
B Summarize the adaptive schemes in detail?

An adaptive controller is a sort of controller, which can modify its behavior in

response to changes in the dynamics of the system and process disturbances.

Adaptive Control Concept

There are many definitions of adaptive control, one of the most accepted is
that it is a type of non-linear special control system in which the state of the
process can be separated on two-time scales that evolve at different speeds.

There are many types of controllers that provide good regulation

characteristics in the presence of changes in the system parameters. But
according to the above definition, they are not really adaptive, since that
the adaptation is done in an open loop.

The below figure shows a general schematic of an adaptive controller. Three

phases go into the design of a modern controller. The modeling of the system,
the identification of the parameters of the model, and finally the design of the
controller.

Adaptive systems, in general, allow automating the last two stages, although
the controllers used in adaptive systems can be linear.

Classification of Adaptive Control Systems

There are two types of adaptive control systems available. They are

 Indirect Adaptive Control

 Direct Adaptive Control
3 A Discuss the significance, advantages, and limitations of indirect self-tuning regulators?

Self-tuning control systems are a type of adaptive control systems that can
adjust their parameters automatically to achieve optimal performance under
changing conditions. They are widely used in various fields, such as robotics,
aerospace, chemical engineering, and biomedical applications. However,
designing and implementing self-tuning control systems also poses some
challenges that need to be addressed. In this article, we will discuss the
benefits and challenges of self-tuning control systems, and some examples of
how they are applied in practice.

Benefits of self-tuning control systems

One of the main benefits of self-tuning control systems is that they can
improve the system performance and robustness by adapting to the variations
in the system dynamics, disturbances, and uncertainties. This can reduce the
need for manual tuning, calibration, or maintenance, and increase the
efficiency and reliability of the system. Another benefit is that self-tuning
control systems can handle nonlinearities, time delays, and interactions that
 are difficult to model or compensate by conventional control methods. This
can enable the system to operate in a wider range of conditions and achieve
more complex tasks.

Challenges of self-tuning control systems

Despite the advantages, self-tuning control systems also face some challenges
that limit their applicability and effectiveness. One of the challenges is the
trade-off between the speed and accuracy of the adaptation process. If the
adaptation is too fast, it may cause instability or oscillations. If the adaptation
is too slow, it may not be able to catch up with the changes or disturbances.
Another challenge is the selection and estimation of the parameters that need
to be tuned. This requires a good understanding of the system behavior and the
objectives of the control. Moreover, some parameters may be hard to measure
or may depend on other factors that are not easily accessible or observable.

Discuss the significance, advantages, and limitations of continuous time self-tuners?

An explicit self-tuning controller is described that incorporates closed-loop

pole location as the principal design criterion for the objective function of
Clarke and Gawthrop. The algorithm includes several minor extensions to
improve robustness : a variable dead-time compensator to deal with unknown
or time-varying delay, and a method of treating steady-state offset that avoids
retaining an integrator in the loop continuously. A new technique has been
developed and included in the algorithm that enables the controller to be auto-
B tuning in the sense that the closed-loop pole(s) and sampling period can be
determined on-line so as to optimize the system set-point step response,
leaving the system designer to specify only internal model orders and noise
characteristics on which to initiate retuning. The resulting controller is quite
robust and can easily handle unstable, non-minimum phase systems in a
single-loop configuration, as is demonstrated by several simulations including
a non-linear model of a fixed-bed auto thermal reactor operating over such a
large range that auto-tuning of the poles is a necessity.