Disturbance Observer-Based Nonlinear Friction Compensation and Application to Table Drive System
Disturbance Observer-Based Nonlinear Friction Compensation and Application to Table Drive System
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基于扰动观测器的非线性摩擦补偿及其在工作台驱动系统中的应用
DOI：
10.1541/ieejias.118.51
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
N. Matsui
中科院分区：
文献类型：
--
作者：
M. Iwasaki;T. Shibata;N. Matsui
机械元件中的非线性摩擦是一种固有的非线性，由于脱离摩擦和Stribeck效应，在很低的速度控制范围内会导致粘滑运动和轨迹控制中的跟踪误差。由于这些都对伺服驱动系统的控制精度有很大影响，为了获得更高性能的运动，对摩擦进行适当的建模和/或补偿是必不可少的。作者已经提出了利用基于库仑摩擦特性的显著扰动观测器来补偿非线性摩擦的方案。本文采用滑动面间具有弹性刚毛的摩擦模型，研究了非线性摩擦的动态特性。分析表明，在速度反转的动态运动下，库仑摩擦中的摩擦力表现出非线性行为，因此，提出的扰动观测器对瞬时摩擦力的估计是非常有用的。利用工作台驱动系统进行的实验结果表明，该方案在精确轨迹控制方面有明显的性能改善。
Nonlinear friction in machine elements is one of the inherent nonlinearities, which causes stick-slip motion in very low velocity control range and tracking errors in trajectory control due to the break-away friction and Stribeck effect. Since those greatly affect the control accuracy of servo drive systems, the appropriate modeling and/or compensation for friction is indispensable to achieve the higher performance motion.The authors have already proposed the compensation scheme for nonlinear friction by using a remarkable disturbance observer which is designed on the basis of Coulomb friction characteristic. In this paper, the dynamic characteristic of nonlinear friction is examined by means of a friction model with elastic bristles between sliding surfaces. The analysis reveals that the nonlinear friction behaves in Coulomb friction under the dynamic motion at velocity reversal and, as a result, it is concluded clearly that the proposed disturbance observer is quite useful to estimate the instantaneous friction. Experimental results using a table drive system show the significant performance improvement of the proposed scheme in precise trajectory control.