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Minimum tracking error control of flexible ball screw drives using a discrete-time sliding mode controller / Chinedum Okwudire in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 131 N° 5 (Septembre 2009) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N° 5 (Septembre 2009) . - 12 p. Titre : Minimum tracking error control of flexible ball screw drives using a discrete-time sliding mode controller Type de document : texte imprimé Auteurs : Chinedum Okwudire, Auteur ; Altinatas, Yusuf, Auteur Année de publication : 2009 Article en page(s) : 12 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : ball  screw  drives;  mechanical  system;  structural  flexibility;  discrete-time  sliding  mode Résumé : This paper presents modeling, identification, and discrete-time sliding mode control of ball screw drives with structural flexibility. The mechanical system of the drive is modeled by a two degree-of-freedom system dominated by the coupled longitudinal and torsional dynamics of the drive assembly whose parameters are identified. A mode-compensating disturbance adaptive discrete-time sliding mode controller is then designed to actively suppress the vibrations of the drive. However, it is shown theoretically that, without using minimum tracking error filters, the tracking errors of the drive do not go to zero when sliding mode is reached. Therefore, a method for designing stable and robust minimum tracking error filters, irrespective of the identified open-loop behavior of the drive is proposed. The identification and control of flexible ball screw drives are experimentally tested, and the tracking accuracy of the drives is shown to improve considerably as a result of the designed minimum tracking error filters. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Issue.aspx?issueID=26502&di [...] [article] Minimum tracking error control of flexible ball screw drives using a discrete-time sliding mode controller [texte imprimé] / Chinedum Okwudire, Auteur ; Altinatas, Yusuf, Auteur . - 2009 . - 12 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N° 5 (Septembre 2009) . - 12 p. Mots-clés : ball  screw  drives;  mechanical  system;  structural  flexibility;  discrete-time  sliding  mode Résumé : This paper presents modeling, identification, and discrete-time sliding mode control of ball screw drives with structural flexibility. The mechanical system of the drive is modeled by a two degree-of-freedom system dominated by the coupled longitudinal and torsional dynamics of the drive assembly whose parameters are identified. A mode-compensating disturbance adaptive discrete-time sliding mode controller is then designed to actively suppress the vibrations of the drive. However, it is shown theoretically that, without using minimum tracking error filters, the tracking errors of the drive do not go to zero when sliding mode is reached. Therefore, a method for designing stable and robust minimum tracking error filters, irrespective of the identified open-loop behavior of the drive is proposed. The identification and control of flexible ball screw drives are experimentally tested, and the tracking accuracy of the drives is shown to improve considerably as a result of the designed minimum tracking error filters. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/Issue.aspx?issueID=26502&di [...]