Adaptive Configuration Method of Friction Compensation Pulse Characteristic Parameters

Abstract

Abstract:

A novel adaptive configuration method of friction compensation pulse characteristic parameters was proposed. The friction compensation pulse characteristic parameters were accurately calculated by the dynamic iterative process based on trajectory parameters, friction torque, the desired performance value, dynamic information and servo control parameters. This method was adopted to compensate for the friction error on the precision motion worktable. The experiment results show that the proposed method has a better performance and the deviation peak of tracking error is less than 1 μm under different working conditions and trajectories.

Key words: friction compensation pulse, servo feed system, precision motion worktable, motion error

CLC Number:

TH 113.2

FENG Bina,MEI Xuesonga,b,YANG Juna,HUANG Xiaoyonga. Adaptive Configuration Method of Friction Compensation Pulse Characteristic Parameters

[J]. Journal of Shanghai Jiaotong University, 2014, 48(05): 713-718.

References

［1］Jeon S. Integrator leakage for limit cycle suppression in servo mechanisms with stiction ［J］. Journal of Dynamic Systems Measurement and ControlTransactions of the ASME, 2012, 134 (3):18.

［2］ArmstrongHélouvry B, Dupont P, Wit D L. A survey of models, analysis tools and compensation methods for the control of machines with friction ［J］. Automatica, 1994, 30 (7):10831138.

［3］Chen G S, Mei X S, Tao T. Friction compensation using a double pulse method for a highspeed highprecision table ［J］. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2011, 225 (5): 12631272.

［4］Wei S H, Chun W L, Pau L H, et al. Precision Control and compensation of servomotors and machine tools via the disturbance observer ［J］. IEEE Transactions on Industrial Electronics, 2010, 57 (1): 420429.

［5］Sun M W, Wang Z H, Wang Y K, et al. On lowvelocity compensation of brushless DC servo in the absence of friction model ［J］. IEEE Transactions on Industrial Electronics, 2013, 60 (9): 38973905.

［6］Yeh S S, Sun J T. Friction modeling and compensation for feed drive motions of CNC milling machines ［J］. Journal of the Chinese Society of Mechanical Engineers, 2012, 33 (1): 3349.

［7］Yeh S S, Tsai Z H, Hsu P L. Applications of integrated motion controllers for precise CNC machines ［J］. The International Journal of Advanced Manufacturing Technology, 2009, 44 (9): 906920.

［8］Huang S N, Tan K K. Intelligent friction modeling and compensation using neural network approximations ［J］. IEEE Transactions on Industrial Electronics, 2012, 59(8): 33423349.

［9］刘栋，梅雪松，张东升. 基于多采样率控制的伺服系统摩擦补偿研究［J］. 中国电机工程学报, 2011, 31(24): 111117.

LIU Dong, MEI Xuesong, ZHANG Dongsheng. Friction compensator based on mutirate control in servo drives system ［J］. Proceedings of the Chinese Society for Electrical Engineering, 2011, 31(24): 111117.

［10］梁速，赵万生，康小明. 基于Linux的五轴联动电火花加工数控系统［J］. 上海交通大学学报, 2012, 46 (7): 10971102.

LIANG Su, ZHAO Wansheng, KANG Xiaoming. Development of a fiveaxis CNC system for electrodischarge machining based on Linux ［J］. Journal of Shanghai Jiaotong University, 2012, 46 (7): 10971102.

[1]	YANG Zhen,FU Zhuang,GUAN Enguang,XU Jiannan,TIAN Shihe,ZHENG Hui. The Kinematic Analysis and Structure Optimization of MLattice Modular Robot [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1153-1159.
[2]	ZHAO Jun1,YU Haidong2. Dynamic Analysis of TwoLink Flexible Manipulators Based on the Absolute Nodal Coordinate Formulation [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1160-1165.
[3]	ZHAO Ziren1,DU Shichang1,HUANG Delin1,REN Fei2,LIANG Xinguang2. Modelling and Bottleneck Analysis of Product Quality in Transient Phase of MultiStage Manufacturing Systems Based on Markovian Chains [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1166-1173.
[4]	HUANG Xuangui. Algorithm for Relatively Small Planted Clique with Small Edge Probability [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1202-1206.
[5]	LUO Jingjinga,YU Haidonga,ZHAO Chunzhanga,b,WANG Haoa,b. Study on Motion Stability of Variable CrossSection Flexible Beams Based on the Absolute Nodal Coordinate Formulation [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1174-1180.
[6]	WANG Yibo1,HUANG Yixiang1,LI Bingchu1,LING Xiao1 ZHAO Shuai1,LIU Chengliang1,ZHANG Daqing2. An Improved Modal Simulation Method for Switched Reluctance Motor Based on Static PreComputation [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1181-1188.
[7]	ZHOU Binghai,LI Ming. Scheduling Method of Manufacturing Cells with Robot Restricted Processing [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1214-1219.
[8]	CHEN Jinping1,ZHANG Shusheng1,HE Weiping1,WANG Mingwei1,HUANG Hui2. Feasible Change Path Search and Optimization Method Based on Driving Parameter Modeling [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1220-1227.
[9]	ZHOU Penghui,MA Hongzhan,CHEN Dongping,CHEN Mengyue,CHU Xuening. Identification of Product Redesign Modules Based on Fuzzy Random Failure Mode and Effects Analysis [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1189-1195.
[10]	PENG Cheng,ZHU Jianyun,CHEN Li. Mode Transition for a Hybrid Electric Vehicle Based on Model Reference Control [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1196-1201.
[11]	LIU Wei,YANG Chao . A Study on Injection Mould Part Quotation Model Based on Back Propagation Neural Network [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1207-1213.
[12]	CHEN Suting，WANG Zhuo，WANG Qi. Aerial Scene Classification Based on Nonlinear Scale Space [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1228-1234.
[13]	CHEN Ning,HE Xiaobin,GUI Weihua,YANG Chunhua. Research on Image Encryption System Based on Chaotic Discrete Sequence [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1273-1280.
[14]	LIU Kaia，ZHANG Liminb，ZHOU Lijuna. Design of Random Restricted Boltzmann Machine Group [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1235-1240.
[15]	ZHU Xinyao1，SONG Baowei2,XU Gang1,YANG Songlin1. Research on Landing Strategy and Influencing Factors of an Autonomous Underwater Vehicle with Supporting Mechanism [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1241-1251.