摩擦補償と初期値補償による工作機械用ボールねじ駆動ステージの逆象限突起抑制制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2022/05/01

タイトル(英語): Negative Quadrant Glitch Suppression Control of Ball-screw-driven Stage for Machine Tool by Friction Compensation and Initial Value Compensation

著者名: 林　拓巳（東京大学），藤本　博志（東京大学），伊佐岡　慶浩（DMG森精機（株）），寺田　祐貴（DMG森精機（株））

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: ボールねじ駆動ステージ，転がり摩擦，摩擦補償，象限突起，初期値補償_x000D_　　ball-screw-driven stage，rolling friction，friction compensation，quadrant glitch，initial value compensation

要約(英語): Ball-screw-driven stages are widely used as feed systems of industrial equipment such as machine tools. Rolling friction in the stages causes a large tracking error called a quadrant glitch at a velocity reversal. Although the model-based friction compensation reduces the quadrant glitch, it often leads to a tracking error in the direction opposite to the quadrant glitch. This study aims to present a control system that reduces both the quadrant glitch and opposite-direction error. This is achieved by combining the model-based friction compensation and initial value compensation. The effectiveness of the proposed control system is verified by simulations and experiments with two-axis experimental setup.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.142 No.5 （2022） 特集：2021年産業応用部門大会

本誌掲載ページ: 400-409 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/142/5/142_400/_article/-char/ja/