Proposal of nonlinear friction compensation approach for a ball-screw-driven stage in zero-speed region including non-velocity-reversal motion

Hongzhong Zhu, Hiroshi Fujimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper presents a heuristic friction compensation approach for handling the springlike friction behaviors of a ball-screw-driven stage in zero-speed region. The friction compensation for the motion that the stage is decelerated to stop and then accelerated in the same direction, which is also referred to as non-velocity-reversal motion, is discussed in detail. As the elastic energy stored in mechanical components may not be completely released during non-velocity-reversal motion, the conventional compensation approaches may not work well. Therefore, some other sophisticated friction compensation approaches become necessary for this kind of motion. In this study, a velocity pattern recognition algorithm is presented as the first step to classify the velocity patterns in zero-speed crossing region. Then, sinc function is exploited to model the nonlinear springlike friction of the ball-screw-driven stage. It is proved that the friction can be properly compensated for both the reversal motion and non-reversal motion. Experiments are performed to verify the proposed approach and it is demonstrated that the control performance is significantly improved.

Original languageEnglish
Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
Pages6539-6544
Number of pages6
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
Duration: Nov 10 2013Nov 14 2013

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Country/TerritoryAustria
CityVienna
Period11/10/1311/14/13

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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