Pre-compensation of servo tracking errors through data-based reference trajectory modification

被引：29
作者：
Dumanli, Alper [1 ]
Sencer, Burak [1 ]
机构：
[1] Oregon State Univ, Corvallis, OR 97331 USA
来源：
CIRP ANNALS-MANUFACTURING TECHNOLOGY | 2019年 / 68卷 / 01期
基金：
美国国家科学基金会;
关键词：
Identification; Compensation; Feed-drive; HIGH-BANDWIDTH CONTROL; IDENTIFICATION; FEEDFORWARD; DRIVES; DESIGN;
D O I：
10.1016/j.cirp.2019.03.017
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents a new dynamic error compensation approach with novel data-based closed-loop tuning scheme to enhance tracking accuracy of machine tool feed-drives. Both servo dynamics and friction disturbance induced positioning errors are pre-compensated by modifying the reference trajectory. Velocity and acceleration profiles of reference trajectory are modulated to achieve perfect tracking. Reference position profile is modified based on the pre-sliding friction regime to eliminate quadrant glitches. Optimal error compensation is achieved by a digital trajectory pre-filter whose parameters are tuned automatically by making on-the-fly iterative adjustments. Effectiveness of proposed compensation approach is validated experimentally in multi-axis feed-drive systems. (C) 2019 CIRP. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：397 / 400
页数：4
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