Friction modeling of a high-precision positioning system

Author

Thiery, Sébastien ; Kunze, Marc ; Karimi, Alireza ; Curnier, Alain ; Longchamp, Roland

Author_Institution

Lab. d´´Automatique, Ecole Polytechnique Federale de Lausanne

fYear

2006

fDate

14-16 June 2006

Abstract

Friction modeling of a high-precision positioning system using linear permanent magnet synchronous motors is investigated. The friction force is measured precisely by some specific experiments to eliminate the parasitic ripple force. The experimental data show that the relation between the lubrication force and the velocity is not linear as it is assumed in the conventional friction models used in automatic control. A new model for the lubrication force based on tribological observations is proposed and introduced to the LuGre friction model. The new model can characterize the lubrication force saturation which is encountered in the acquired data. The parameters of the new friction model are identified and compared with the standard ones

Keywords

friction; permanent magnet motors; position control; synchronous motors; LuGre friction model; automatic control; friction modeling; high-precision positioning system; linear permanent magnet synchronous motors; lubrication force saturation; parasitic ripple force; tribological observation; Automatic control; Degradation; Force measurement; Friction; Limit-cycles; Lubrication; Mechanical systems; Permanent magnet motors; Solids; Viscosity;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1656491

Filename

1656491