Accurate motion control of xy high-speed linear drives using friction model feedforward and cutting forces estimation

被引：51

作者：

Jamaludin, Z. ^{[1
]}

Van Brussel, H. ^{[1
]}

Pipeleers, G. ^{[1
]}

Swevers, J. ^{[1
]}

机构：

[1] Katholieke Univ Leuven, Div PMA, Dept Mech Engn, B-3001 Heverlee, Belgium

来源：

CIRP ANNALS-MANUFACTURING TECHNOLOGY | 2008年 / 57卷 / 01期

关键词：

accuracy; control; motion;

D O I：

10.1016/j.cirp.2008.03.037

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Accurate motion control is essential for machine tools. Both friction forces and cutting forces contribute to position and contour tracking errors. This paper presents a feedforward friction force compensation based on the Generalized Maxwell-slip (GMS) friction model that describes friction behaviour both in pre-sliding and sliding regime. An inverse-model-based disturbance observer is added to further improve the friction compensation. This disturbance observer is able to only partly reduce the effects of cutting forces. An almost complete elimination of these effects is obtained by adding a repetitive controller (RC). Experimental validations of these approaches on a linear-motor-based xy table are presented. (c) 2008 CIRP.

引用

页码：403 / 406

页数：4

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