NDLI: Proposal of nonlinear friction compensation approach for a ball-screw-driven stage in zero-speed region including non-velocity-reversal motion

Content Provider	IEEE Xplore Digital Library
Author	Hongzhong Zhu Fujimoto, H.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. Eng., Univ. of Tokyo, Kashiwa, Japan (Hongzhong Zhu; Fujimoto, H.)
Abstract	This paper presents a heuristic friction compensation approach for handling the springlike friction behaviors of a ball-screw-driven stage in zero-speed region. The friction compensation for the motion that the stage is decelerated to stop and then accelerated in the same direction, which is also referred to as non-velocity-reversal motion, is discussed in detail. As the elastic energy stored in mechanical components may not be completely released during non-velocity-reversal motion, the conventional compensation approaches may not work well. Therefore, some other sophisticated friction compensation approaches become necessary for this kind of motion. In this study, a velocity pattern recognition algorithm is presented as the first step to classify the velocity patterns in zero-speed crossing region. Then, sinc function is exploited to model the nonlinear springlike friction of the ball-screw-driven stage. It is proved that the friction can be properly compensated for both the reversal motion and non-reversal motion. Experiments are performed to verify the proposed approach and it is demonstrated that the control performance is significantly improved.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	6539
Ending Page	6544
File Size	474819
Page Count	6
File Format	PDF
ISBN	9781479902248
ISSN	1553572X
DOI	10.1109/IECON.2013.6700213
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-10
Publisher Place	Austria
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Torque Fasteners Acceleration Observers Classification algorithms Viscosity
Content Type	Text
Resource Type	Article

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