An Investigation on Speed Control of a Spindle Cluster Driven by Hydraulic Motor: Application to Metal Cutting Machines

Table 5

Theoretical and experimental results.

Setting speed (rpm)	Methodology	Results
		Acutal speed (rpm)	Overshoot (%)	Delay time (s)	Setting time (s)	Upper bound error (%)	Lower bound error (%)
300	Theory	300.1	0	0	2.53	1.5	0
	Experiment	300±10	0	0.02	2.63	3.3	3.6
500	Theory	500.2	0	0	2.54	1.5	0
	Experiment	500±10	0	0.02	1.87	3	2
700	Theory	700.2	0	0	2.53	1.5	0
	Experiment	700±10	0	0.01	3.16	2	3.5
900	Theory	900.4	0	0	2.54	1.5	0
	Experiment	900±10	0	0.01	2.96	2.2	2.2
1100	Theory	1101	0	0	2.43	1.5	0
	Experiment	1100±10	0	0.01	3.32	1.9	2.6