Title :
Positioning control of feed table based on an integrated friction model
Author :
Zhang, Tao ; Gao, Huanbing ; Liu, Cungen
Author_Institution :
Sch. of Inf. & Electr. Eng., Shandong Jianzhu Univ., Jinan, China
Abstract :
Non-linear friction is an important factor affecting the positioning precision of feed table. Model-based friction compensation is an effective method to improve precision. An integrated friction model is established based on the assumption of viscoelastic body and the Stribeck model. Parameters of the friction model are accurately identified by GA. A control strategy with the combination of a sliding mode controller and model-based friction feedforward compensation is designed. Simulation results show that the integrated friction model and the designed control law have good effect on decreasing the positioning error.
Keywords :
feedforward; genetic algorithms; position control; viscoelasticity; Stribeck model; feed table; integrated friction model; model-based friction feedforward compensation; nonlinear friction; positioning control; viscoelastic body; Feeds; Force; Friction; Lubrication; Mathematical model; Servomotors; Surface roughness; Friction Modeling; compensation; positioning control; simulation;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554094
