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International Workshop on Advanced Motion control (AMC)

作者： Manuel Weiss Florian Frick Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

The switching frequency of the power electronics in servo drives significantly impacts its power dissipation and process accuracy. To date, a constant high switching frequency is typically used, based on the strictest requirements of the manufacturing process. The novel adaptive PWM approach dynamically adjusts the switching frequency at runtime to reduce switching losses of the power electronics, while maintaining the required process accuracy. The switching frequency is set based on the requirements of the active operating state of the tooling machine. To determine the optimal switching frequency, a holistic understanding of power dissipation in servo drives is required. A novel modulation-frequency-dependent power dissipation model, incorporating the losses in the drive amplifier and in the motor due to current ripple effects, is presented in this paper. The new model is validated over a wide range of parameters, including different motors, voltages and currents. The evaluation of the model results in a better understanding of the modulation-frequency-dependent power dissipation in servo drives and enables the determination of the optimal PWM frequencies. It is shown that higher energy savings can be achieved at higher voltages, while current ripple effects limit the effectiveness of the adaptive PWM approach for motors with lower power ratings.

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Anisotropic Damping and Stiffness of laminated steel parts using adhesive bonding - an empirical influence study 56

Anisotropic Damping and Stiffness of laminated steel parts u...

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56th CIRP International Conference on manufacturing Systems, CIRP CMS 2023

作者： Helfesrieder, Nico Neubauer, Michael Lechler, Armin Verl, Alexander University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart70174 Germany

Layered part manufacturing enables part topology to be optimized internally by structuring individual layers separately, which is especially promising for large machine parts. However, the resulting part properties as a function of the selected manufacturing parameters are largely unexplored. Therefore, this paper investigates the impacts of the slicing direction, the sheet thickness as well as the adhesive on anisotropic damping and stiffness values of adhesively bonded steel parts. A cantilever beam of symmetric cross-section is chosen as an easy-to-manufacture geometry. Three redundant specimens were prepared for each of six parameter variations investigated within this study, resulting in a total of 18 investigated beams. The results indicate highly anisotropic stiffness and damping as a function of the layer build-up direction and it was found that the modal damping rises with increasing amount of adhesive. These findings must be taken into account for future applications of layered lightweight machine parts and their simulative predictability should be studied. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the 56th CIRP International Conference on manufacturing Systems 2023.

关键词： Adhesive Bonding Damping Experimental Modal Analysis (EMA) Laminated Object manufacturing (LOM) Layer Laminated manufacturing (LLM)

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Software-defined manufacturing: Data Representation 16

Software-defined Manufacturing: Data Representation

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16th CIRP Conference on Intelligent Computation in manufacturing engineering, CIRP ICME 2022

作者： Ellwein, Carsten Neumann, Rebekka Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany

Due to constantly decreasing product cycles, a fast adaptability of manufacturing plants is a prerequisite for profitable operation. The paradigm of Software-defined manufacturing (SDM) pursues this overriding goal by decoupling software from mechanical and electrical components. In this way, SDM allows the free definition of functionality, purely through software, limited only by the physical limitations of the machines and systems. This paper analyzes existing approaches that pursue the goal of digitally representing manufacturing to enable flexible adaptation. Based on this analysis, a model for the data representation is proposed that allows consistent use across the entire supply chain. © 2023 Elsevier B.V.. All rights reserved.

关键词： Supply chains

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Introduction of an industrial transfer learning use case systematization for machine tools 56

Introduction of an industrial transfer learning use case sys...

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56th CIRP International Conference on manufacturing Systems, CIRP CMS 2023

作者： Netzer, Markus Michelberger, Jonas Puchta, Alexander Verl, Alexander Fleischer, Jürgen wbk Institute of Production Science Karlsruhe Institute of Technology Kaiserstraße 12 Karlsruhe76131 Germany ISW Institute for Control Engineering of Machine Tools and Manufacturing Units Keplerstraße 7 Stuttgart70174 Germany

Traditional intelligent systems such as fault detection are mainly developed for isolated use on single machines and are mostly trained individually. A cross-machine knowledge transfer of intelligent systems holds an immense potential and can reduce implementation effort of intelligent systems. To enable a structured analysis of real-world transfer problems, an industry-relevant, far-reaching systematization of typical machine tool use cases is developed. This provides the overview over different typical use case classes from the industrial use case perspective. Based on the derived transfer criteria of each use case class, a conceptual approach of concrete transfer methods is proposed. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the 56th CIRP International Conference on manufacturing Systems 2023.

关键词： industrial transfer learning knowledge transfer machine tools Transfer learning transfer learning systemization

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Self-adaptive digital twin reference architecture to improve process quality 33

Self-adaptive digital twin reference architecture to improve...

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33rd CIRP Design Conference

作者： Splettstößer, Ann-Kathrin Ellwein, Carsten Wortmann, Andreas Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 StuttgartD-70174 Germany

The aim of software-defined manufacturing is a more adaptable production through software. This requires highly adaptive, versatile cyber-physical production systems (CPPSs), which react flexibly to changes and perform crucial adjustments. Self-adaptive digital twins (DTs) enable adaptability through monitoring the behavior of a CPPS, identifying problems, and determining adjustments for the optimization of processes. DTs work with an idealized representation of the CPPS. Changes in system behavior that negatively impact the process execution, e.g., caused by tool wear or variations of environmental influences, and, thus, the quality of the resulting product, are ignored. This ignorance leads to defective products, sub-optimal product quality, and hazardous CPPS states. To mitigate this, we present an approach to incorporate quality awareness into a model-driven reference architecture of a self-adaptive DT. The devised concept automatically analyzes and optimizes system behavior. To this end, a component for quality evaluation extends the reference architecture. The DT and CPPS are connected via OPC UA. To validate the approach, a fiber laser machine is utilized. The DT can operate both on a physical and a virtual laser machine. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0)

关键词： Fiber lasers

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Evaluation of external control of KUKA Industrial Robots for laboratory and prototype environments 56

Evaluation of external control of KUKA Industrial Robots for...

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56th International Symposium on Robotics, ISR Europe 2023

作者： Mehner, Malte Matkovic, Nikolas Mühlbeier, Edgar Mayer, Dominik Fleischer, Jürgen Verl, Alexander wbk Institute of Production Science Karlsruhe Institute of Technology Germany Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany

ISBN: (纸本)9783800761418

To conduct research projects in production science KUKA industrial robots are commonly used. For experimental applications, robot programs need to be adjusted very frequently, which requires a quick and automated way to transfer programs created offline in simulation tools. External control via programmable logic controller is not practical for research applications due to limited freedom to operate, necessary know-how and additional hardware. Answering the question on how to automate a KUKA externally can be challenging if experience in this topic is missing. This article gives a guideline to the three main interfaces: Ethernet-KRL-Interface, Robot Sensor Interface and KUKA Variable Proxyserver. Short descriptions on how to set each one up are given and experiences collected during this process are shared. Application examples using each interface are included. In the end recommendations are given depending on key criteria such as implementation effort, interface restrictions, real-time-capability and cyclic data exchange. © VDE VERLAG GMBH Berlin Offenbach.

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A Multicore control System Architecture as an Operating Platform for Industrial Digital Twins

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Procedia CIRP 2023年 118卷 294-299页

作者： Lars Klingel Karl Kübler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

Digital Twins are seen as one of the core technologies and enablers of Industrie 4.0. There are various definitions of the term Digital Twin, but most agree that they are digital representations supporting the real production system throughout its lifecycle by providing models, data-integration and online-optimization. Currently, there are no implementations of Digital Twins to be used productively, which fulfill all parts of this definition. This work focuses on the simulation part of Digital Twins and the real-time requirements which arises from an online calculation. An approach that uses models of virtual commissioning, which are integrated in an industrial controller to tackle the problem of real-time calculation is presented. To enable the online simulation of complex and multi-physical models the simulation is parallelized and calculated on a multicore processor.

关键词： Industrial Digital Twin Co-simulation Partitioning Virtual Commissioning

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Method for the Calculation of Local Bead Volume in Multi-Axis Additive manufacturing

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Procedia CIRP 2023年 120卷 1244-1249页

作者： Martin Wolf Vinzent Maier Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

In recent history, Multi-Axis Additive manufacturing enjoys increasing attention for both industrial and research application. In comparison to traditional processes, the additional rotation axes enable parts to be printed with greater design flexibility, while reducing the need for support structures. The multi-axis motion additionally allows for optimization of structural properties of the parts. However, curved-layer printing requires significantly higher effort for planning and computation, as the layers exhibit curvature in their shape and feature local variations of the layer height and bead width. Consideration of these properties is often neglected in the development of path planning methods, although they pose a significant influence to the optical and structural quality of the printed parts. Local over- or under-extrusion can result in material accumulation or voids within the part and need to be avoided. Additionally, some Multi-Axis Additive manufacturing processes like Directed Energy Deposition are especially prone to errors in practice, as the melt-pool behavior is hard to model and predict accurately. This paper introduces a method for the precise calculation and adjustment of local bead volume, as a possible solution to these problems. The method processes existing Cartesian paths and uses a model of the bead geometry to simulate the extrusion by rasterization. The method considers printing head orientation, as well as neighborhood information of adjacent beads and builds a volumetric map of the paths. Local extrusion volume is then determined for each waypoint of the path from this volume map and provided to the printer along with the G-Code, enabling adjusted volume deposition both in advance and during the process by iterative path-adaptation. The provided implementation is able to achieve favorable results for both use-cases but proves especially beneficial for the latter.

关键词： Multi-Axis Additive manufacturing Computer-Aided manufacturing Local Volume Calculation 3D Printing

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Study on Available Cloud manufacturing Platforms for Additive manufacturing Technologies 4

Study on Available Cloud Manufacturing Platforms for Additiv...

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4th IEEE Eurasia Conference on IoT, Communication and engineering, ECICE 2022

作者： Strljic, Matthias Milan Younes, Islam Riedel, Oliver University of Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

ISBN: (纸本)9781665482080

Additive manufacturing technologies provided one of the most adaptable manufacturing processes for digital commissioning via the growing cloud manufacturing paradigm. This was facilitated by a low-complexity tool chain for the manufacturing process along the CAD-CAM chain and the process to be executed on the equipment. However, additive processes have grown far beyond the initial FDM processes and also offer more complex materials with unique properties in addition to other processes. The four most common manufacturing processes FDM, SLA, SLS, and SLM were used as a basis, and existing cloud manufacturing platforms offering all these four technologies as a bundle were gathered via a structured survey. Out of 42 platforms, 17 platforms were researched, filtered and analyzed using sample components and a catalog of requirements consisting of five requirement clusters: material, functional scope, final costs, delivery and user-friendliness. The results were weighted for each technology and finally evaluated in an overarching discussion. The achieved scores and the special features of a platform are discussed and a recommendation is made. © 2022 IEEE.

关键词： 3D printing

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A modular configuration and management framework for distributed real-time applications based on converged networks using TSN

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Procedia CIRP 2023年 118卷 38-43页

作者： Stefan Oechsle Florian Frick Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

Industrial control systems are distributed real-time applications deployed on field and controller devices, connected by fieldbuses. Their lack of interoperability, mutually and towards IT-systems, is a major obstacle for the digitalization. Converged networks are considered as the solution across industries with Time-Sensitive Networking (TSN) as the enabling technology. To ease the adoption of TSN for industrial automation, a modular framework was developed for future engineering tools. The core of the framework consists of a module management including interfaces and a YANG-based datastore, maintaining a system-wide data model. Modules are provided for network configuration implementing CUC-functions, monitoring and container-based application and deployment.

关键词： Time-Sensitive Networking distributed real-time applications engineering framework

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