NDLI: Sinc-Function-Based Friction Compensation for Ball-Screw-Driven Stage in Zero-Velocity Region including Non-Velocity-Reversal Motion

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Sinc-Function-Based Friction Compensation for Ball-Screw-Driven Stage in Zero-Velocity Region including Non-Velocity-Reversal Motion

Content Provider	Semantic Scholar
Author	Zhu, Hongzhong Fujimoto, H.
Copyright Year	2013
Abstract	Abstract This paper presents a heuristic friction compensation approach for handling the rolling friction behaviors of ball-screw-driven stages in the zero-velocity crossing regions including non-velocity-reversal motion. The rolling friction behaves in a nonlinear way, and would significantly deteriorate the control performance. Since the alteration of elastic energy in mechanical components of a stage system is different between the velocity-reversal motion and non-velocity-reversal motion, sophisticated compensation approaches become necessary to cope with the both cases. In this study, a velocity pattern recognition algorithm is proposed as the first step in the design process to classify the velocity patterns in zero-velocity crossing region. Then, sinc function is utilized to model the nonlinear rolling friction of the ball-screw-driven stage. Thanks to the few parameters of the sinc function, it is possible to approximately compute the released displacement in the non-velocity-reversal motion, and the friction compensation approach can therefore be applied in a feedforward manner. It is verified by experiments that the proposed approach can precisely compensate the nonlinear friction to improve the control performance.
Starting Page	55
Ending Page	60
Page Count	6
File Format	PDF HTM / HTML
Volume Number	2013
Alternate Webpage(s)	http://hflab.k.u-tokyo.ac.jp/papers/2013/zhu_IIC13.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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