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PID control of torque during drilling in GFRP laminates

Amrinder Pal Singh (UIET, Panjab University Chandigarh, Chandigarh, India)
Manu Sharma (UIET, Panjab University Chandigarh, Chandigarh, India)
Inderdeep Singh (Indian Institute of Technology, Roorkee, India)

Multidiscipline Modeling in Materials and Structures

ISSN: 1573-6105

Article publication date: 7 October 2014




Damage induced during drilling of polymer matrix composites depends upon torque during drilling. Modeling of torque with feed rate and its control becomes imminent for damage free drilling of composite laminates. Therefore, the purpose of this paper is to construct a transfer function between drilling torque and feed rate based upon experiments. Thereafter, the torque is controlled by using PID controller.


This paper presents step-by-step procedure to capture complex drilling dynamics of polymer matrix composites in a mathematical model. A glass fiber reinforced plastic (GFRP) composite laminate is drilled at constant feed rate during experimentation. The corresponding time response of torque is recorded. First order, second order and third order transfer functions between torque and feed rate are identified using system identification toolbox of Matlab®. These transfer functions are then converted into state-space models. Experimental verification is performed on GFRP composite laminate. PID controller is designed using Simulink® to track a given reference torque during drilling of polymer matrix composite. The controller is then validated using different reference torque trajectories.


Good match is observed between torque response from state-space models and experiments. Error analysis based on integral absolute error and integral squared error on experimental and simulated response show that third-order system represents the complex drilling dynamics in a better way than first and second-order systems. PID controller effectively tracks given reference trajectories.


Third-order model between torque and feed rate for drilling of composites not available in literature has been presented. PID controller has previously been applied successfully for drilling of conventional materials, this paper extends implementation of PID torque control for drilling of composites.



Pal Singh, A., Sharma, M. and Singh, I. (2014), "PID control of torque during drilling in GFRP laminates", Multidiscipline Modeling in Materials and Structures, Vol. 10 No. 3, pp. 346-361.



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