Pre-compensation of servo tracking errors through data-based reference trajectory modification
Pre-compensation of servo tracking errors through data-based reference trajectory modification
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DOI：
10.1016/j.cirp.2019.03.017
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发表时间：
2019-01-01
影响因子：
4.1
通讯作者：
Sencer, Burak
中科院分区：
文献类型：
--
作者：
Dumanli, Alper;Sencer, Burak
本文提出了一种新的动态误差补偿方法与新的基于数据的闭环调整方案，以提高机床进给驱动器的跟踪精度。伺服动态和摩擦扰动引起的定位误差的预补偿通过修改参考轨迹。参考轨迹的速度和加速度轮廓被调制以实现完美的跟踪。基于预滑动摩擦机制修改参考位置轮廓以消除象限毛刺。最佳的误差补偿是通过一个数字轨迹预滤波器，其参数自动调整，使飞行迭代调整。在多轴进给驱动系统中的实验验证了所提出的补偿方法的有效性。(C)2019年CIRP。由爱思唯尔有限公司出版。保留所有权利。
This paper presents a new dynamic error compensation approach with novel data-based closed-loop tuning scheme to enhance tracking accuracy of machine tool feed-drives. Both servo dynamics and friction disturbance induced positioning errors are pre-compensated by modifying the reference trajectory. Velocity and acceleration profiles of reference trajectory are modulated to achieve perfect tracking. Reference position profile is modified based on the pre-sliding friction regime to eliminate quadrant glitches. Optimal error compensation is achieved by a digital trajectory pre-filter whose parameters are tuned automatically by making on-the-fly iterative adjustments. Effectiveness of proposed compensation approach is validated experimentally in multi-axis feed-drive systems. (C) 2019 CIRP. Published by Elsevier Ltd. All rights reserved.