{"product_id":"ieej-mec13026","title":"Sinc-Function-Based Friction Compensation for Ball-Screw-Driven Stage in Zero-Velocity Region including Non-Velocity-Reversal Motion","description":"\u003cp\u003e\u003cstrong\u003eカテゴリ: \u003c\/strong\u003e研究会(論文単位)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e論文No: \u003c\/strong\u003eMEC13026\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eグループ名: \u003c\/strong\u003e【D】産業応用部門 メカトロニクス制御研究会\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e発行日: \u003c\/strong\u003e2013\/03\/07\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eタイトル(英語): \u003c\/strong\u003eSinc-Function-Based Friction Compensation for Ball-Screw-Driven Stage in Zero-Velocity Region including Non-Velocity-Reversal Motion\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名: \u003c\/strong\u003e朱 洪忠(東京大学),藤本 博志(東京大学)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e著者名(英語): \u003c\/strong\u003eZhu Hongzhong(The University of Tokyo),Fujimoto Hiroshi(The University of Tokyo)\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003eキーワード: \u003c\/strong\u003e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\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(日本語): \u003c\/strong\u003eThis 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.\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e要約(英語): \u003c\/strong\u003eThis 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.\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003e原稿種別: \u003c\/strong\u003e日本語\u003c\/p\u003e\u003cp\u003e\u003cstrong\u003ePDFファイルサイズ: \u003c\/strong\u003e1,395 Kバイト\u003c\/p\u003e","brand":"IEEJ-PDF","offers":[{"title":"PDFダウンロード（一般価格330円\/会員価格220円） \/ A4 \/ 6","offer_id":46385006280943,"sku":"IEEJ-MEC13026-PDF","price":330.0,"currency_code":"JPY","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0718\/9512\/2159\/files\/IEEJ-PDF_7bb7897c-80f0-49e2-9021-aada65f99c31.png?v=1744331818","url":"https:\/\/ieej.bookpark.ne.jp\/products\/ieej-mec13026","provider":"電気学会 電子図書館","version":"1.0","type":"link"}