Compensation of Stribeck-Type Nonlinear Friction in Positioning Control Using Equivalent-Input-Disturbance Approach

Shi, Qin; Ouyang, Liyu; She, Jinhua; Xu, Liangfei; Imani, Junya; Ohyama, Yasuhiro

doi:10.20965/jaciii.2014.p0150

J. Adv. Comput. Intell. Intell. Inform.

2014

DOI: 10.20965/jaciii.2014.p0150

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Compensation of Stribeck-Type Nonlinear Friction in Positioning Control Using Equivalent-Input-Disturbance Approach

Qin Shi¹,

Liyu Ouyang²,

Jinhua She³

et al.

Abstract: A method of compensating for Stribeck-type nonlinear friction torque for a two-mass mechatronic system has been devised based on the equivalent-inputdisturbance (EID) approach. The nonlinearity in the system is treated as an input-dependent disturbance, and an EID estimator is designed that estimates it. The incorporation of the estimate into the control input compensates for the nonlinearity. Simulation results demonstrate the validity of the method and show that the compensation accuracy is closely related t… Show more

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Cited by 2 publications

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Analysis of Measured Friction of Rolling Balls in Raceway Grooves

Matsubara¹,

Sayama²,

Sakai³

et al. 2014

Int. J. Automation Technol.

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Friction in linear guideways has an influence on the motion accuracy of machine tool drives. As feedback control has a lag to the friction change in reverse motion, a feedforward compensation is generally used in friction models. However, it is difficult to estimate the friction of rolling balls in raceway grooves because it involves both stick and differential slip characteristics. In this paper, a measurement method is presented using an analytical procedure to clarify micro stick and slip factors in rolling friction. In the measurement test, four balls and two raceway grooves are used to measure the friction force under dry and lubricated conditions. The locomotive bristle model is then applied to identify the stick and slip parameters, which are then compared between the various conditions of lubrication.

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Analysis of Measured Friction of Rolling Balls in Raceway Grooves

Matsubara¹,

Sayama²,

Sakai³

et al. 2014

Int. J. Automation Technol.

View full text Add to dashboard Cite

show abstract

Advanced Control Strategies for Active Vibration Suppression in Laser Cutting Machines

Denkena¹,

Eckl²,

Lepper³

2015

Int. J. Automation Technol.

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Due to rising energy requirements, the use of low-weight materials is becoming more important, especially in aerospace and automotive engineering. Because of their high strength-to-weight ratio, carbon fiber reinforced plastics (CFRP) are increasingly replacing metals. These materials are usually machined by milling operations. Their main problems are high tool wear, thermal damage, and surface integrity. This paper presents a machine concept and control strategy to substitute milling with laser cutting. Because a high, constant-trajectory velocity is required during laser cutting operations, a highly dynamic machine tool is needed. Conventional machine tools requiring large workspaces are inertial and therefore unsuitable for this task. Thus, a portal machine concept was investigated with an additional laser scanner and lightweight moving components. To increase path accuracy, two control strategies were implemented and analyzed in a multi-body simulation. One approach is to use a frequency-separating filter, while the second is based on estimation of tool center point positioning error using a Kalman filter. An acceleration sensor located near the tool center point (TCP) or the drive current signal can be used as input for the Kalman filter. Both input signals are investigated and compared in this paper. Results presented in this paper show that with these control strategies, highly dynamic trajectories can be realized with high precision.

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Compensation of Stribeck-Type Nonlinear Friction in Positioning Control Using Equivalent-Input-Disturbance Approach

Cited by 2 publications

References 10 publications

Analysis of Measured Friction of Rolling Balls in Raceway Grooves

Analysis of Measured Friction of Rolling Balls in Raceway Grooves

Advanced Control Strategies for Active Vibration Suppression in Laser Cutting Machines

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