Projection-based Iterative Learning Control for Ball-screw-driven Stage with Consideration of Rolling Friction Compensation

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: 2020/03/01

タイトル(英語): Projection-based Iterative Learning Control for Ball-screw-driven Stage with Consideration of Rolling Friction Compensation

著者名: Takumi Hayashi (The University of Tokyo), Hiroshi Fujimoto (The University of Tokyo), Yoshihiro Isaoka (DMG MORI CO., LTD.), Yuki Terada (DMG MORI CO., LTD.)

著者名(英語): Takumi Hayashi (The University of Tokyo), Hiroshi Fujimoto (The University of Tokyo), Yoshihiro Isaoka (DMG MORI CO., LTD.), Yuki Terada (DMG MORI CO., LTD.)

キーワード: iterative learning control，projection-based iterative learning control，ball-screw-driven stage，rolling friction

要約(英語): Ball-screw-driven stages are feed systems that are widely used in industrial equipment such as numerically controlled machine tools. They require precise position control; however, rolling friction in the ball-screw mechanism deteriorates its control performance. Therefore, for precise control of ball-screw-driven stages, rolling friction must be compensated. Iterative learning control (ILC) is an effective method of friction compensation. However, industrial applications of ILC are limited because of its vulnerability to task variation, such as variation in position reference. In conventional studies, projection-based ILC employing basis functions has been proposed to deal with multiple tasks. In this paper, we propose basis functions for position control of ball-screw-driven stages based on their physical association with rolling friction. Simulations and experiments validate the effectiveness of our proposal.

本誌: IEEJ Journal of Industry Applications Vol.9 No.2 （2020） Special Issue on “Motion Control and Its Related Technologies”

本誌掲載ページ: 132-139 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/9/2/9_132/_article/-char/ja/