Friction Compensation of an $XY$ Feed Table Using Friction-Model-Based Feedforward and an Inverse-Model-Based Disturbance Observer

Jamaludin, Zamberi; Brussel, Hendrik Van; Swevers, Jan

doi:10.1109/tie.2009.2017560

Cited by 175 publications

(80 citation statements)

References 12 publications

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“…Friction in the drive mechanism especially has a nonlinear elastic property in the micro region [4][5][6][7], unlike Coulomb and/or viscous friction in the macro region [8], resulting in different positioning responses as well as variations in frequency characteristics depending on the regions. In the reference [4], typical friction models (static, Dhal, LuGre, Leuven models) were analytically compared to verify the friction model-based compensation in accurate low-velocity tracking.…”

Section: Introductionmentioning

confidence: 99%

“…Rolling friction characteristics were clearly modeled and parameterized by optimization techniques such as genetic algorithms in the reference [5], being able to compensate for friction in linear motor-driven table stage systems. In addition, friction models (generalized Maxell-slip and variable length spring models) were applied in the references [6,7], to improve circular trajectory performances in machine tool drives. On the other hand, in the positioning with short stroke references and/or at the settling regions, it is well-known that the nonlinear elastic friction force leads to "slow responses" with poor settling performance [7,9].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Practical Feedback Controller Design for Micro-Displacement Positioning in Table Drive Systems

2013

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Original scientific paperThis paper presents a practical feedback controller design of a ball screw-driven table system for the microdisplacement positioning. Friction of the mechanism in the micro-displacement region has nonlinear elastic properties, unlike Coulomb and/or viscous friction in the macro-displacement, resulting in different positioning responses and frequency characteristics of the plant depending on the regions. In this paper, at first, a numerical simulator with a rolling friction model is adopted to reproduce the positioning behaviors in the micro-displacement region. Based on the simulator, the stability condition of positioning in the region is clarified on the basis of frequency characteristics and, then, appropriate parameters of feedback controller are practically designed to satisfy the required positioning performance. Effectiveness of the proposed design has been verified by a series of experiments using a prototype of ball screw-driven table positioning device. Key words: Precision positioning, Micro-displacement region, Nonlinear friction, Stability conditionPraktična sinteza regulatora za precizno pozicioniranje sustava pomične podloge. U radu je prikazana sinteza regulatora s povratnom vezom u sustavu za precizno linearno pozicioniranje pomične podloge pomoću kugličnih ležajeva. Za razliku od uobičajenih modela Coulombova i/ili viskoznog trenja, trenje razmatranog sustava ima izrazito nelinearna svojstva u području mikro-pomaka, što za posljedicu ima različite odzive pozicioniranja i frekvencijski karakteristike, ovisno o radnom području. U radu je prvo razvijeno numeričko simulacijsko okruženje zasnovano na modelu trenja kotrljanja u svrhu simuliranja ponašanja sustava pozicioniranja u području mikropomaka. Potom je, zasnivajući se na simulacijskom okruženju, pomoću frekvencijske karakteristike razjašnjen problem stabilnosti sustava u promatranom radnom području te su odabrani odgovarajući parametri regulatora koji poštuju uvjet stabilnosti i zadovoljavaju željenu kvalitetu odziva. Sinteza regulatora provedena je vodeći računa o praktičnoj primjenjivosti postupka. Učinkovitost predložene sinteze potvrîena je nizom eksperimenata na prototipu sustava za precizno linearno pozicioniranje pomične podloge pomoću kugličnih ležajeva.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Practical Feedback Controller Design for Micro-Displacement Positioning in Table Drive Systems

2013

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“…Various guidelines and methods for designing the filter Q(s) can be found in [63], [71], [72] to name but only a few. The utilization of frequency-domain DOBC to improve robustness and disturbance rejection performance of AC servo systems has been extensively investigated in literatures (see [22]- [26] for recent advances).…”

Section: Frequency-domain Dobc (Fddobc)mentioning

confidence: 99%

“…The presence of various frictions always cause undesirable influences on control precision improvement. Based on the fundamental friction models, friction estimators and compensation are generally utilized for high precision servo control of AC motors such as PMSM [17], [18], [26], [34] and IM [90].…”

Section: A Typical Utilizations Of Disturbance Observationsmentioning

confidence: 99%

Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey

Yang

Chen

et al. 2017

IEEE Trans. Ind. Electron.

521

220

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“…For machine tool axes the steady-state moving friction behaviour can be described reliably by a Stribeck curve, which contains Coulomb, viscous and Stribeck friction (Jamaludin et al, 2009). …”

Section: Introductionmentioning

confidence: 99%

Reasons and impact of assembly variations on machine tools

Reuß

2016

JAMDSM

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Exchangeability of machine tools requires identical results of identical machining operation. For estimating the behaviour of machine tools, which are highly integrated mechatronic systems, the interaction of electromechanic system and controller must be observed together. Furthermore, it is possible to measure friction at start-up in serial production of machine tools and at the production plants of machine tool consumers without any additional measuring equipment. By these measurements of friction severe variances of behaviour of feed axes have been detected. These are mainly caused by assembly variances. Especially the alignments and preloads of bearings and ball screw have a strong effect because these components have a high stiffness. This means even smallest deviations result in high constraining forces, which directly affect the friction behaviour. Since it is impossible to determine the reasons of these variances in completely assembled machine tools, a test stand of a ball screw driven axis is examined. This test stand allows both detailed identification of components' friction behaviour and definite variations of assembly conditions, namely alignment and preload, of bearings and ball screw nut. Hence a detailed investigation of effects of assembly variations becomes possible and has been conducted for alignment of ball screw nut and loose bearing. However, by this examination only the effects on the complete system can be examined but not the situation of constraining forces within the components. The knowledge of these internal forces is important because they directly affect the life expectancy of components and therewith feed drives. In order to improve the significance and to estimate the effect of assembly variances in detail, a modelling method based on multibody simulation has been developed and verified by comparison of measuring results of the test bed and simulation.

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Friction Compensation of an $XY$ Feed Table Using Friction-Model-Based Feedforward and an Inverse-Model-Based Disturbance Observer

Cited by 175 publications

References 12 publications

Practical Feedback Controller Design for Micro-Displacement Positioning in Table Drive Systems

Practical Feedback Controller Design for Micro-Displacement Positioning in Table Drive Systems

Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey

Reasons and impact of assembly variations on machine tools

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