高速微运动控制中LuGre摩擦模型的估计与补偿

Q4 Computer Science

International Journal of Automation and Smart Technology Pub Date : 2017-09-01 DOI:10.5875/AUSMT.V7I3.1400

Congzhi Huang, S. Yeh, P. Hsu

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引用次数: 3

摘要

在精密运动控制和制造过程中，通常需要静摩擦补偿来减少摩擦。微运动控制是当前电子工业精密加工的发展趋势。在高速、高频指令下的微尺度运动系统中，动摩擦起着重要的作用。Lund-Grenoble (LuGre)摩擦模型适用于动态摩擦效应的处理。然而，在微型化加工中，该模型的参数难以准确辨识以保证满意的控制性能。本文提出了一种高效、系统的LuGre建模三步参数估计方法。在400W交流伺服电机上成功验证了该方法的摩擦补偿效果。此外，在DYNA 1007数控机床上，LuGre模型在最大峰值误差下也将运动精度提高了72.0%。

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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Estimation and Compensation of the LuGre Friction Model in High-Speed Micro-Motion Control

Static friction compensation is usually required to reduce friction in precision motion control and manufacturing processes. Micro-motion control is a current trend for precision machining in the electronics industry. Dynamic friction plays an important role in systems using micro-scale motion at high-speed and high-frequency command. The Lund–Grenoble (LuGre) friction model is suitable for coping with the dynamic friction effect. However, the parameters of this model are difficult to accurately identify to ensure satisfactory control performance in miniature machining. This paper proposes an efficient and systematic three-step parameter estimation method for LuGre modeling. The friction compensation of the proposed approach was successfully demonstrated on a 400W AC servo motor. Furthermore, under a peck drilling command on DYNA 1007 CNC machine, the LuGre model also improved motion precision by 72.0% in the maximum peak error.

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来源期刊

International Journal of Automation and Smart Technology Engineering-Electrical and Electronic Engineering

CiteScore

0.70

自引率

0.00%

发文量

审稿时长

16 weeks

期刊介绍： International Journal of Automation and Smart Technology (AUSMT) is a peer-reviewed, open-access journal devoted to publishing research papers in the fields of automation and smart technology. Currently, the journal is abstracted in Scopus, INSPEC and DOAJ (Directory of Open Access Journals). The research areas of the journal include but are not limited to the fields of mechatronics, automation, ambient Intelligence, sensor networks, human-computer interfaces, and robotics. These technologies should be developed with the major purpose to increase the quality of life as well as to work towards environmental, economic and social sustainability for future generations. AUSMT endeavors to provide a worldwide forum for the dynamic exchange of ideas and findings from research of different disciplines from around the world. Also, AUSMT actively seeks to encourage interaction and cooperation between academia and industry along the fields of automation and smart technology. For the aforementioned purposes, AUSMT maps out 5 areas of interests. Each of them represents a pillar for better future life: - Intelligent Automation Technology. - Ambient Intelligence, Context Awareness, and Sensor Networks. - Human-Computer Interface. - Optomechatronic Modules and Systems. - Robotics, Intelligent Devices and Systems.