Sinc-Function-Based Friction Compensation for Ball-Screw-Driven Stage in Zero-Velocity Region including Non-Velocity-Reversal Motion

カテゴリ: 研究会(論文単位)

論文No: IIC13026

グループ名: 【D】産業応用部門 産業計測制御研究会

発行日: 2013/03/07

タイトル(英語): Sinc-Function-Based Friction Compensation for Ball-Screw-Driven Stage in Zero-Velocity Region including Non-Velocity-Reversal Motion

著者名: 朱 洪忠(東京大学),藤本 博志(東京大学)

著者名(英語): Zhu Hongzhong(The University of Tokyo),Fujimoto Hiroshi(The University of Tokyo)

キーワード: 非線形摩擦補償|モーションコントロール|ゼロ速度領域|シンク関数|外乱オブザーバ|ボールねじステージ|nonlinear friction compensation|motion control|zero-velocity region|sinc function|disturbance observer|ball-screw-driven stage

要約(日本語): This paper presents a heuristic friction compensation approach for handling the rolling friction behaviors of ball-screw-driven stages in the zero-velocity crossing regions including non-velocity-reversal motion. The rolling friction behaves in a nonlinear way, and would significantly deteriorate the control performance. Since the alteration of elastic energy in mechanical components of a stage system is different between the velocity-reversal motion and non-velocity-reversal motion, sophisticated compensation approaches become necessary to cope with the both cases. In this study, a velocity pattern recognition algorithm is proposed as the first step in the design process to classify the velocity patterns in zero-velocity crossing region. Then, sinc function is utilized to model the nonlinear rolling friction of the ball-screw-driven stage. Thanks to the few parameters of the sinc function, it is possible to approximately compute the released displacement in the non-velocity-reversal motion, and the friction compensation approach can therefore be applied in a feedforward manner. It is verified by experiments that the proposed approach can precisely compensate the nonlinear friction to improve the control performance.

要約(英語): This paper presents a heuristic friction compensation approach for handling the rolling friction behaviors of ball-screw-driven stages in the zero-velocity crossing regions including non-velocity-reversal motion. The rolling friction behaves in a nonlinear way, and would significantly deteriorate the control performance. Since the alteration of elastic energy in mechanical components of a stage system is different between the velocity-reversal motion and non-velocity-reversal motion, sophisticated compensation approaches become necessary to cope with the both cases. In this study, a velocity pattern recognition algorithm is proposed as the first step in the design process to classify the velocity patterns in zero-velocity crossing region. Then, sinc function is utilized to model the nonlinear rolling friction of the ball-screw-driven stage. Thanks to the few parameters of the sinc function, it is possible to approximately compute the released displacement in the non-velocity-reversal motion, and the friction compensation approach can therefore be applied in a feedforward manner. It is verified by experiments that the proposed approach can precisely compensate the nonlinear friction to improve the control performance.

原稿種別: 日本語

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