Friction identification and compensation design for precision positioning

doi:10.1007/s40436-017-0171-z

Advances in Manufacturing ›› 2017, Vol. 5 ›› Issue (2): 120-129.doi: 10.1007/s40436-017-0171-z

Friction identification and compensation design for precision positioning

Feng-Tian Li, Li Ma, Lin-Tao Mi, You-Xuan Zeng, Ning-Bo Jin, Ying-Long Gao

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, People's Republic of China

收稿日期:2016-06-14 修回日期:2017-04-03 出版日期:2017-06-25 发布日期:2017-06-25
通讯作者: Li Ma E-mail:malian@shu.edu.cn
基金资助:
Funding was provided by Shanghai Municipal Natural Science Foundation (Grant No. 13ZR1415800), National Natural Science Foundation of China (Grant No. 61573238), Innovation Program of Shanghai Municipal Education Commission of China (Grant No. 14YZ008), Jiangsu Key Laboratory for Advanced Robotics Technology Foundation (Grant No. JAR201304)

Friction identification and compensation design for precision positioning

Feng-Tian Li, Li Ma, Lin-Tao Mi, You-Xuan Zeng, Ning-Bo Jin, Ying-Long Gao

School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, People's Republic of China

Received:2016-06-14 Revised:2017-04-03 Online:2017-06-25 Published:2017-06-25
Contact: Li Ma E-mail:malian@shu.edu.cn
Supported by:
Funding was provided by Shanghai Municipal Natural Science Foundation (Grant No. 13ZR1415800), National Natural Science Foundation of China (Grant No. 61573238), Innovation Program of Shanghai Municipal Education Commission of China (Grant No. 14YZ008), Jiangsu Key Laboratory for Advanced Robotics Technology Foundation (Grant No. JAR201304)

摘要/Abstract

摘要：

Precision positioning systems driven by linear motors are vulnerable to force disturbances owing to the reduction of gear transmission. The friction, included in the disturbance, can be modeled and compensated to improve the servo performance. This paper proposes a modified Stribeck friction model (SFM) and an optimization algorithm for consistency with the positioning platform. The compensators based on the friction model and disturbance observer (DOB) are simulated. The simulation results show that as compared with the DOB compensator (the velocity recovers by 5.19%), the friction model based compensator (the velocity recovers by 10.66%) exhibits a better performance after adding the disturbance. Moreover, compensation comparisons among the Coulomb friction, traditional SFM, and modified SFM are performed. The experimental results show that the following error with modified SFM compensation improves by 67.67% and 51.63% at a speed of 0.005 m/s and 0.05 m/s, compared with the Coulomb friction compensation. This demonstrates that the proposed model, optimization algorithm, and compensator can reduce the following error effectively.

关键词: Precision positioning, Friction compensation, Identification, Modeling

Abstract:

Key words: Precision positioning, Friction compensation, Identification, Modeling

Feng-Tian Li, Li Ma, Lin-Tao Mi, You-Xuan Zeng, Ning-Bo Jin, Ying-Long Gao. Friction identification and compensation design for precision positioning[J]. Advances in Manufacturing, 2017, 5(2): 120-129.

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Friction identification and compensation design for precision positioning

Friction identification and compensation design for precision positioning

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