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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Mode Switching Feedback Compensation Considering Rolling Friction Characteristics for Fast and Precise Positioning
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Mode Switching Feedback Compensation Considering Rolling Friction Characteristics for Fast and Precise Positioning

机译：考虑滚动摩擦特性的快速精确定位的模式切换反馈补偿

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摘要

This paper presents a mode switching feedback (FB) compensation methodology based on rolling friction models for the fast and precise positioning of table drive systems. Rolling friction in the table drive mechanisms behaves as a nonlinear elastic component in the micro displacement region and deteriorates the position settling performance with slow responses. Effects of the rolling friction on the positioning, therefore, should be compensated to provide the desired control performance. The authors have already proposed a rolling friction model-based friction compensation scheme to improve the slow settling responses. The conventional approach, however, could not suppress vibratory settling responses due to unknown model errors and/or plant perturbations, and there still remains the performance deterioration in the positioning accuracy to be solved. In this research, therefore, a novel mode switching FB compensation considering the rolling friction properties is applied to provide the desired settling performance with well-suppression of both vibratory response and slow response. The feature of the proposed approach is that the vibratory and slow responses at the settling are handled as an initial value response of the FB control system in the micro displacement region and can be suppressed in a mode switching control manner on the basis of initial value compensation frameworks utilizing the elastic characteristic of the rolling friction. The proposed approach has been verified by numerical simulations and experiments using a prototype of industrial table positioning devices.
机译：本文提出了一种基于滚动摩擦模型的模式切换反馈（FB）补偿方法，用于快速，精确地定位工作台驱动系统。工作台驱动机构中的滚动摩擦在微位移区域中表现为非线性弹性分量，并以缓慢的响应降低了位置稳定性能。因此，应补偿滚动摩擦对定位的影响，以提供所需的控制性能。作者已经提出了一种基于滚动摩擦模型的摩擦补偿方案，以改善慢速沉降响应。然而，常规方法由于未知的模型误差和/或设备扰动而不能抑制振动沉降响应，并且仍然存在待解决的定位精度方面的性能下降。因此，在这项研究中，考虑了滚动摩擦特性的新型模式切换FB补偿可用于提供所需的稳定性能，同时充分抑制振动响应和慢响应。所提出的方法的特征在于，将沉降时的振动和慢响应作为微位移区域中FB控制系统的初始值响应来处理，并且可以基于初始值补偿以模式切换控制的方式加以抑制。框架利用滚动摩擦的弹性特性。使用工业工作台定位设备的原型，通过数值模拟和实验验证了所提出的方法。

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