Low Velocity Friction Compensation and Feedforward Solution based on Repetitive Control

Tung, E. D.; Anwar, G.; Tomizuka, M.

doi:10.23919/acc.1991.4791874

Cited by 24 publications

(14 citation statements)

References 15 publications

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“…Typical positioning systems, e.g., an -table, contain linear slideways. Rolling element slideways can be designed such that the Stribeck effect is virtually absent, but they will still exhibit a nonlinear presliding friction behavior which introduces machining errors such as quadrant glitches [24]. Friction modeling and model-based friction compensation, as described in [21] and [22] for rolling element slideways, are required to reduce these errors.…”

Section: A Presliding Friction Modeling For a Linear Slidewaymentioning

confidence: 99%

An integrated friction model structure with improved presliding behavior for accurate friction compensation

Swevers

Al‐Bender

Ganseman

et al. 2000

IEEE Trans. Automat. Contr.

568

271

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This paper presents a new dynamical friction model structure which allows accurate modeling both in the sliding and the presliding regimes. Transition between these two regimes is accomplished without a switching function. The model incorporates a hysteresis function with nonlocal memory and arbitrary transition curves. These last aspects prove essential for modeling presliding friction that is encountered in real physical situations. The model as a whole can also handle the Stribeck effect and stick-slip behavior as has been demonstrated by validation on a KUKA IR 361 robot. In this sense, this model can be considered as more complete in comparison with others found in the literature. The general friction model allows modeling of individual friction systems through the identification of a set of parameters that determine the complete behavior of the system. In this way, the model structure has been used to identify the friction behavior of a linear slide as well as that of the above mentioned KUKA robot. The results of the latter identification have been consequently used for feedforward friction compensation to obtain the most accurate tracking.

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Section: A Presliding Friction Modeling For a Linear Slidewaymentioning

confidence: 99%

An integrated friction model structure with improved presliding behavior for accurate friction compensation

Swevers

Al‐Bender

Ganseman

et al. 2000

IEEE Trans. Automat. Contr.

568

271

View full text Add to dashboard Cite

show abstract

“…Lin et al [8] presented a robust controller that combines a variable structure controller (VSC) with a DOB based compensator and compared the performance to a typical disturbance compensation controller. Tung, et al applied a non-model based friction compensation approach in the form of a repetitive controller and demonstrated an improved tracking performance and quadrant glitch compensation [9] On the other hand, model-based methods exactly cancel out the effect of the friction force on the feed drive by additional driving force equivalent to the estimated friction [10,11]. A friction model is incorporated into a feedback or feed-forward loop to estimate the friction.…”

Section: Introductionmentioning

confidence: 98%

Contouring control for three-axis machine tools based on nonlinear friction compensation for lead screws

Bui

Uchiyama

Simba

2016

International Journal of Machine Tools and Manufacture

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“…The position dependent cogging force and friction force that have high nonlinearity are the main disturbance sources of PMLM, which can degrade the performance significantly. Many researchers have proposed various friction compensation methods [1][2][3][4][5][6][7][8]. The most frequently used method is the model based friction compensation approach [2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Repetitive Model Predictive Control of a Precision Linear Motor Drive

Cao

Low

2007

IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society

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In this paper, a repetitive model predictive controller (RMPC) is proposed for tracking control of a linear motor. The proposed algorithm reduces the tracking error caused by the periodic disturbance by including the estimation of the future disturbances in the prediction model. The repetitive tracking error is treated as the consequence of periodic input disturbance, which is learnt over several trials and is used to improve the tracking accuracy. As compared with the conventional NPC and repetitive control, this algorithm attempts to derive the merits of the two schemes. Some experimental results are presented to demonstrate the effectiveness of the proposed approach.

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Low Velocity Friction Compensation and Feedforward Solution based on Repetitive Control

Cited by 24 publications

References 15 publications

An integrated friction model structure with improved presliding behavior for accurate friction compensation

An integrated friction model structure with improved presliding behavior for accurate friction compensation

Contouring control for three-axis machine tools based on nonlinear friction compensation for lead screws

Repetitive Model Predictive Control of a Precision Linear Motor Drive

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