A simplified model for friction compensation in precise feed drives. Issue 4 (2018)

• Record Type: Journal Article
• Authors: Villegas, Fernando; Hecker, Rogelio; Flores, Gustavo
• Is Part Of: International journal of mechanisms and robotic systems. Volume 4:Issue 4(2018)
• Page Start: 339
• Page End: 351
• Publication Date: 2018
• Subjects: friction model -- precise positioning -- linear motor; Robotics -- Periodicals; Mechanical engineering -- Periodicals; 629.892
• Languages: English
• ISSNs: 2047-7244

Abstract

Friction is a complex phenomenon with negative effects on the precision of positioning systems. In this work, a single-state friction model for control purposes, aimed to simplify the implementation of control algorithms while keeping a good performance in friction compensation, is analysed. In particular, the model is capable or representing the Stribeck curve, rate independent presliding hysteresis with non-local memory and non-drifting behaviour. This model has been tested on an experimental setup based on a linear motor, and its performance is compared to that of the generalised Maxwell-slip model, showing better performance on the tracking error.