Rolling Friction Model-Based Analyses and Compensation for Slow Settling Response in Precise Positioning

被引：34

作者：

Maeda, Yoshihiro ^{[1
]}

Iwasaki, Makoto ^{[1
]}

机构：

[1] Nagoya Inst Technol, Dept Comp Sci & Engn, Nagoya, Aichi 4668555, Japan

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2013年 / 60卷 / 12期

关键词：

Friction compensation; history dependency; mode switching control; nonlinear elastic property; rolling friction; slow settling response; MOTION;

D O I：

10.1109/TIE.2012.2229676

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents rolling friction model-based analyses and compensation for slow settling responses in the precise positioning of linear motor-driven table systems. Rolling friction in the table drive mechanisms generates nonlinear elastic friction force in the micro displacement region. The nonlinear behavior causes slow responses at the settling region, deteriorating the fine positioning performance. Effects of the rolling friction on the positioning, therefore, should be analytically examined and compensated to provide the desired control performance. In this research, therefore, a rolling friction model-based analyses and compensation for the slow settling response are presented to improve the precise positioning performance. The proposed examinations and friction compensation for the slow settling response have been verified by numerical simulations and experiments using a prototype of table drive systems.

引用

页码：5841 / 5853

页数：13

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