Identification on Nonlinear Friction Model and Tracking Control for a Ball-Screw Actuated Stage Using Modified Charge System Search

Chih Jer Lin; Shen Kai Yu; Bo Yen Ho; Chin Sheng Chen

doi:10.4028/www.scientific.net/KEM.625.423

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HomeKey Engineering MaterialsKey Engineering Materials Vol. 625Identification on Nonlinear Friction Model and...

Identification on Nonlinear Friction Model and Tracking Control for a Ball-Screw Actuated Stage Using Modified Charge System Search

Abstract:

High precise positioning and high-speed performance are demanded for servo mechanical systems in recent industry. However, the nonlinear friction is a main factor to make the positioning mechanism imprecision. To improve the positioning the positioning precision of stages driven by ball-screws, there are two types of compensations including model and non-model based methods. In this study, the LuGre friction Model is applied to model the nonlinear friction behavior for a ball-screw driven stage. A Modified Charge Search System (MCSS) was proposed to identify the system’s parameter. After the system’s parameters are obtained, a feed-forward control integrated with a disturbance observer is proposed to eliminate the external disturbance and improve its tracking performance.

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Periodical:

Key Engineering Materials (Volume 625)

Pages:

423-429

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.625.423

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Online since:

August 2014

Authors:

Chih Jer Lin*, Shen Kai Yu, Bo Yen Ho, Chin Sheng Chen

Keywords:

Charge Search System (CSS), Disturbance Observer, Feed-Forward Controller, Lugre Model, Particle Swarm Optimization (PSO)

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