Investigation on Tracking Performance of Adaptive Friction Compensation Using Cascade P/PI Controller at Low Velocity

2016 International Conference on Computer and Communication Engineering (ICCCE) Pub Date : 2016-07-01 DOI:10.1109/ICCCE.2016.42

N. A. Rafan, Z. Jamaludin, C. Heng

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引用次数: 5

Abstract

Tracking performance of drive systems is one of the factors that contribute to the accuracy of a machine tool. Tracking error which is much related to non-linear friction behavior of the system, is analyzed based on sliding and pre-sliding regime in terms of quadrant glitches that occurred in reversal velocity. In pre-sliding regime, friction forces is described while axes moving at low velocity. Friction compensation model is therefore a need for accurate motion control applications. This paper analyzes experimentally the performance of two different friction compensation model based namely Generalized Maxwell Slip (GMS) and Sigmoid like curve function (SLCF) model. The experiment validation is performed in a circular motion tested at a ball screw driven XY table controlled by cascade P/PI controller feedforward. The experimental results indicates that SLCF friction model based feedforward capable to reduce magnitude of quadrant glitch that lead towards better tracking performance in machine tools application.

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串级P/PI控制器低速自适应摩擦补偿跟踪性能研究

驱动系统的跟踪性能是影响机床精度的因素之一。跟踪误差与系统的非线性摩擦行为有很大关系，基于滑移和预滑移状态，分析了在反转速度下发生的象限小差错。在预滑动状态下，摩擦力被描述为轴低速运动时的摩擦力。因此，摩擦补偿模型需要精确的运动控制应用。实验分析了基于广义麦克斯韦滑移(GMS)模型和类Sigmoid曲线函数(SLCF)模型的两种摩擦补偿模型的性能。在串级P/PI前馈控制的滚珠丝杠XY工作台上进行了圆周运动实验验证。实验结果表明，基于SLCF摩擦模型的前馈能够减小四象限故障的大小，从而提高机床的跟踪性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2016 International Conference on Computer and Communication Engineering (ICCCE)

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