Feedforward Friction Compensation Using the Rolling Friction Model for Micrometer-stroke Point-to-point Positioning Motion

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2018/03/01

タイトル(英語): Feedforward Friction Compensation Using the Rolling Friction Model for Micrometer-stroke Point-to-point Positioning Motion

著者名: Yoshihiro Maeda (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology), Makoto Iwasaki (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology)

著者名(英語): Yoshihiro Maeda (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology), Makoto Iwasaki (Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology)

キーワード: rolling friction，micrometer-stroke motion，response dispersion，friction model，initial friction compensation，fast and precise positioning

要約(英語): This paper examines the response dispersion in the micrometer-stroke point-to-point positioning motion of high-precision servo systems with nonlinear friction, and presents an advanced model-based feedforward (FF) friction compensation technique to improve the servo performance. In servo mechanisms with rolling ball bearings and/or guides, rolling friction is well-known to deteriorate not only the transient response but also the settling accuracy, because of the nonlinear and complicated friction properties in the micro-displacement region. Therefore, effects of the rolling friction on the performance deterioration should be carefully considered to perform precise simulation analyses and to design effective controllers. In this study, first, the mechanism of response dispersion in the micrometer-stroke motion is analyzed in detail through numerical simulations using a rolling friction model. Then, an advanced FF friction compensation technique using the rolling friction model is adopted with consideration of the mechanism of response dispersion. The effectiveness of the rolling friction model-based analyses and the friction compensation are demonstrated for a laboratory prototype linear motor-driven table system.

本誌: IEEJ Journal of Industry Applications Vol.7 No.2 （2018） Special Issue on “Motion Control and its Related Technologies”

本誌掲載ページ: 141-149 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/7/2/7_141/_article/-char/ja/