Friction compensation of an XY feed table using friction-model-based feedforward and an inverse-model-based disturbance observer / Jamaludin, Zamberi in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3848 - 3853 Titre : Friction compensation of an XY feed table using friction-model-based feedforward and an inverse-model-based disturbance observer Type de document : texte imprimé Auteurs : Jamaludin, Zamberi, Auteur ; Van Brussel, Hendrik, Auteur ; Swevers, Jan, Auteur Article en page(s) : pp. 3848 - 3853 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Control systems Friction Motion control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X 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 [article] Friction compensation of an XY feed table using friction-model-based feedforward and an inverse-model-based disturbance observer [texte imprimé] / Jamaludin, Zamberi, Auteur ; Van Brussel, Hendrik, Auteur ; Swevers, Jan, Auteur . - pp. 3848 - 3853. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3848 - 3853 Mots-clés : Control systems Friction Motion control Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X 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

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