Authors: Ochudlo, Patrick; Rüppel, Adrian Karl; Schmidt, Lorenz; Bergs, Thomas; Vallery, Heike; Stemmler, Sebastian

2024_11_20_15_54_15_RefGen_Idify50_10.tdms: results from the controlled experiment
2024_11_21_11_48_17_constF_Idify50_10.tdms: results from experiment with constant feed Velocity

Important Signals

Intern: ADAS signal
    	pactX:		x-position of the milling tool according to MTCS  
    	vactX:		x-velocity of the milling tool according to MTCS  
    	aactX:		x-acceleration of the milling tool according to MTCS  
    	vcmdX:  	commanded x-velocity of the milling tool according to MTCS  
    	acmdX: 		commanded x-acceleration of the milling tool according to MTCS
    	pactY: 		y-position of the milling tool according to MTCS
    	vactY:		y-velocity of the milling tool according to MTCS  
	aactY:		y-acceleration of the milling tool according to MTCS  
    	vcmdY:		commanded y-velocity of the milling tool according to MTCS
    	acmdY:		commanded y-acceleration of the milling tool according to MTCS
   	pactZ:		z-position of the milling tool according to MTCS
    	vactZ:		z-velocity of the milling tool according to MTCS  
    	aactZ:		z-acceleration of the milling tool according to MTCS 
    	vcmdZ:		commanded z-velocity of the milling tool according to MTCS
   	acmdZ:		commanded z-acceleration of the milling tool according to MTCS
   	pactA:		position of the machine table around A-axis (\vartheta_x in contribution)
   	vactA:		velocity of the machine table around A-axis 
   	aactA:		acceleration of the machine table around A-axis 
   	pactC:		position of the machine table around C-axis (\vartheta_x in contribution)
  	vactC:		velocity of the machine table around C-axis 
  	aactC:		acceleration of the machine table around C-axis
  	posSdeg:	angular position of the spindle (\varphi in contribution)
 	trvlPath:	position of the milling tool on the tool path (p_f in contribution)
  	vf_act:		feed velocity of the milling tool on the tool path (v_f in contribution) 
  	 
MPC: Controller inputs and outputs
       	U:		Output of the MPC
    	vf_act_MPC:	feed velocity of the milling tool on the tool path (v_f in contribution) 
   	vf_ref_MPC:	reference feed velocity from reference generator (first entry of v_{f,ref} in contribution)
   	vf_ref_init:	initial reference feed velocity with initial force model parameters
   	pos_act:	position of the milling tool on the tool path (p_f in contribution)    
    	x_act:		x-position of the milling tool according to MTCS 
    	y_act:		y-position of the milling tool according to MTCS 
   	z_act:		z-position of the milling tool according to MTCS 
    	alpha_v:	feed direction angle
    	ap:		cutting depth
    	phi_st:		entry angle for the first slice 
    	phi_ex:		exit angle for the first slice 
    	trvlPath:	position of the milling tool on the tool path (p_f in contribution)
    	kt:		identified linear Kienzle parameter in tangetial direction
    	kr:		identified linear Kienzle parameter in radial direction
    	mt:		identified exponential Kienzle parameter in tangetial direction
    	mr:		identified exponential Kienzle parameter in radial direction
    	rx:		identified runout parameter in x-direction 
    	ry:		identified runout parameter in y-direction
    	dt_MPC:		execution time of the Velocity controller
    	NumRefGenSteps:	number of steps the reference generator was able to compute

Measurements: Table Dynamometer data
	Fx:		measurement of process force in u-direction in MCS
	Fy:		measurement of process force in v-direction in MCS
	Fz:		measurement of process force in w-direction in MCS

Sig4Idify: EnKF Inputs and Outputs
	Phi:		angular position of the spindle (\varphi in contribution)
	f:		feed velocity
	Alpha:		feed direction angle
	ap:		cutting depth
	PhiSt:		entry angle for the first slice
	PhiEx:		exit angle for the first slice
	trvlPath:	position of the milling tool on the tool path (p_f in contribution) 
	Fx:		process force after rotation in x-direction in MTCS
	Fy:		process force after rotation in y-direction in MTCS
	Fz:		process force after rotation in z-direction in MTCS
	Fx_enkf:	estimated process force in x-direction (first state in x_{PR})
	Fy_enkf:	estimated process force in y-direction (second state in x_{PR})
	kt:		identified linear Kienzle parameter in tangetial direction (third state in x_{PR})
	kr:		identified linear Kienzle parameter in radial direction (fourth state in x_{PR})
	mt:		identified exponential Kienzle parameter in tangetial direction (fifth state in x_{PR})
	mr:		identified exponential Kienzle parameter in radial direction (sixth state in x_{PR})
	rx: 		identified runout parameter in x-direction (seventh state in x_{PR})
	ry:		identified runout parameter in y-direction (eigth state in x_{PR})
	dt:		execution time of the EnKF
	FxSimDebug:	calculation of process force in x-direction based on identified force model parameters 	
	FySimDebug:	calculation of process force in y-direction based on identified force model parameters 	

TecPara:		technical machinign parameters
Tool:			paramters of the milling tool	
staticValuesEnKF
staticValuesMPC
staticValuesSystem
