| Titre : | Friction compensation of an XY feed table using friction-model-based feedforward and an inverse-model-based disturbance observer |
| Auteurs : | Jamaludin, Zamberi, Auteur ; Van Brussel, Hendrik, Auteur ; Swevers, Jan, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | IEEE transactions on industrial electronics (Vol. 56 N° 10, Octobre 2009) |
| Article en page(s) : | pp. 3848 - 3853 |
| Note générale : | Génie électrique |
| Langues : | Anglais |
| Index. décimale : | 621.38 (Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X) |
| Tags : | Control systems Friction Motion control |
| Résumé : | Uncompensated friction forces compromise the positioning and tracking accuracy of motion systems. A unique tracking error known as quadrant glitch is the result of complex nonlinear friction behavior at motion reversal or near-zero velocity. Linear-feedback control strategies such as PID, cascade P/PI, or state-feedback control have to be extended with model- and nonmodel-based friction-compensation strategies to acquire sufficiently high path and tracking accuracy. This paper analyzes and validates experimentally three different friction-compensation strategies for a linear motor-based xy feed drive of a high-speed milling machine: (1) friction-model-based feedforward; (2) an inverse-model-based disturbance observer; and (3) the combination of both techniques. The friction models considered are as follows: a simple static-friction model and the recently developed generalized Maxwell-slip (GMS) model. GMS friction-model-based feedforward combined with disturbance observer almost completely eliminates the radial tracking error and quadrant glitches. |
| DEWEY : | 621.38 |
| ISSN : | 0278-0046 |
| En ligne : | http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4808130 |
