Experimental dataset for model identification and validation of feedforward control on a five-axis milling machine.

This dataset belongs to the Open Access publication "Robust Inversion-Based Feedforward Control With Hybrid Modeling for Feed Drives" (doi: 10.1109/TCST.2024.3512862) A detailed description of the setup can be found in the publication.

Feedback controllers from frequency inverter:

PI velocity controller with Kp = 0.035 [Nm/(rad/s)], Tn = 2.6 [ms]. P position controller with Kp = 35 [1/s].

The dataset contains the following folders (Please refer to corresponding setup.txt for more details):

const_velocities measurements for identification with different constant velocities as reference.

velocity_sweeps measurements for identification with velocity sweeps to estimate the analytical approximation of velocity control loop (with constant velocity offset + sweeps as reference)

execution_time_GP execution time of feedforward compensation with GP model with unit [μs]. measured in TwinCAT 3 system with the function block "Profiler" (PLC Library-> Tc2_Utilities)

robustness_analytic_model robustness test against errors in analytical model G0.

robustness_GP_model robustness test against errors in data-driven GP model.

tracking results tracking results compared to baseline controller with velocity and acceleration feedforward

TwinCAT 3, 4024.65

ctrlX DRIVE, 1.16.2