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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Identification and Compensation of Nonlinear Friction Characteristics and Precision Control for a Linear Motor Stage
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Identification and Compensation of Nonlinear Friction Characteristics and Precision Control for a Linear Motor Stage

机译：直线电机位移台非线性摩擦特性的识别与补偿及精度控制

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The main goal of this investigation is to improve the tracking accuracy of the stage of a linear motor. A DC brushless linear motor is used to actuate a gantry stage to perform printing. To compensate for the tracking error of the gantry stage that is associated with nonlinear friction, the dynamics of the nonlinear static friction are formulated using the Hsieh–Pan model. Particle swarm optimization (PSO), genetic algorithm, and real-coded genetic algorithm-based optimization problems are investigated to evaluate the parameters of the nonlinear friction model. The use of PSO-based optimization to tune the parameters of a disturbance-observer-based variable structure controller is also discussed to improve the tracking response. To check the consistency of the proposed controller, it is implemented in real time and an improved positional accuracy better than 0.1 μm is readily achieved.
机译：这项研究的主要目的是提高线性电动机平台的跟踪精度。使用直流无刷线性电动机来驱动龙门架以执行打印。为了补偿与非线性摩擦相关的龙门架的跟踪误差，使用Hsieh–Pan模型来制定非线性静摩擦的动力学。研究了基于粒子群优化（PSO），遗传算法和基于实编码遗传算法的优化问题，以评估非线性摩擦模型的参数。还讨论了使用基于PSO的优化来调整基于干扰观察者的可变结构控制器的参数，以改善跟踪响应。为了检查所提出的控制器的一致性，它是实时实施的，并且易于实现优于0.1μm的改进位置精度。

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