Closed-Loop Temperature and Force Control of Additive Friction Stir Deposition

Additive Friction Stir Deposition (AFSD) is a recent innovation in non-beam-based metal additive manufacturing that achieves layer-by-layer deposition while avoiding the solid-to-liquid phase transformation. AFSD presents numerous benefits over other forms of fusion-based additive manufacturing, such as high-strength mechanical bonding, joining of dissimilar alloys, and high deposition rates. To improve, automate, and ensure the quality, uniformity, and consistency of the AFSD process, it is necessary to control the temperature at the interaction zone and the force applied to the consumable feedstock during deposition. In this paper, real-time temperature and force feedback are achieved by embedding thermocouples into the nonconsumable machine tool-shoulder and estimating the applied force from the motor current of the linear actuator driving the feedstock. Subsequently, temperature and force controllers are developed for the AFSD process, ensuring that the temperature at the interaction zone and the force applied to the feedstock track desired command values. The temperature and force controllers were evaluated separately and together on setpoints and time-varying trajectories. For combined temperature and force control with setpoints selected at a temperature of 420 degrees C and a force of 2669 N, the average temperature and force tracking errors are 5.4 +/- 6.5 degrees C (1.4 +/- 1.6%) and 140.1 +/- 213.5 N (5.2 +/- 8.0%), respectively.