期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 56, 期 10, 页码 3848-3853出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2009.2017560
关键词
Control systems; friction; motion control
Uncompensated friction forces compromise the positioning and tracking accuracy of motion systems. A unique tracking error known as quadrant glitch is the result of complex nonlinear friction behavior at motion reversal or near-zero velocity. Linear-feedback control strategies such as PID, cascade P/PI, or state-feedback control have to be extended with model-and nonmodel-based friction-compensation strategies to acquire sufficiently high path and tracking accuracy. This paper analyzes and validates experimentally three different friction-compensation strategies for a linear motor-based xy feed drive of a high-speed milling machine: 1) friction-model-based feedforward; 2) an inverse-model-based disturbance observer; and 3) the combination of both techniques. The friction models considered are as follows: a simple static-friction model and the recently developed generalized Maxwell-slip (GMS) model. GMS friction-model-based feedforward combined with disturbance observer almost completely eliminates the radial tracking error and quadrant glitches.
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