NDLI: Frequency domain based friction compensation - Industrial application to transmission electron microscopes -

Content Provider	IEEE Xplore Digital Library
Author	Rijlaarsdam, D. Nuij, P. Schoukens, J. Steinbuch, M.
Copyright Year	2011
Description	Author affiliation: Dept. of Fundamental Electr. & Instrum., Vrije Univ. Brussel, Brussels, Belgium (Schoukens, J.) \|\| Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven, Netherlands (Rijlaarsdam, D.; Nuij, P.; Steinbuch, M.)
Abstract	Friction is a performance limiting factor in many industrial motion systems. Correct compensation or control of friction and other nonlinearities is generally difficult. Apart from the complex nature of friction, compensation of even the most basic type of friction, Coulomb friction, is non trivial. Most available tuning methods rely on time domain data and are often unable to distinguish between nonlinear effects of friction and that of for example linear viscous damping. Furthermore, the sensitivity of time domain data to the influence of friction is too low for correct tuning in many of the high precision motion applications currently used in industry. In this paper a frequency domain method is introduced that allows fast and high accuracy tuning of controller parameters when the closed loop system is subject to nonlinear influences. This methodology is applied to optimally compensate friction in a high precision motion stage of a transmission electron microscope. Theoretical and experimental results are presented and related to time domain performance to illustrate the advantage of frequency domain tuning over time domain tuning.
Sponsorship	Control Syst. Soc.
Starting Page	4093
Ending Page	4098
File Size	357322
Page Count	6
File Format	PDF
ISBN	9781457700804
ISSN	07431619
e-ISBN	9781457700811
DOI	10.1109/ACC.2011.5990617
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Friction Feeds Harmonic analysis Frequency domain analysis Time domain analysis Tuning Gain
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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