Precision-limit positioning of direct drive systems with the existence of friction
Precision-limit positioning of direct drive systems with the existence of friction
复制标题
存在摩擦的直驱系统的精密极限定位
DOI：
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复制
发表时间：
2002
期刊：
影响因子：
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通讯作者：
C. Hsieh
中科院分区：
文献类型：
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作者：
Ting;Yih;C. Hsieh
摘要 本文讨论了存在摩擦的直驱系统的精密极限定位问题。精度极限定位是指，除了亚微米、纳米或微微精度的常识之外，精度误差等于反馈环路中使用的位置传感器的分辨率。这意味着使用数字型位置传感器时会出现零计数精度误差。就精度而言，精度极限定位还强制执行 100% 的重复性。当然，这是实际控制系统所能达到的精度的极限。传统上，这种性能被认为是不可能的，主要是因为缺乏关于摩擦，特别是静摩擦的准确和足够的信息。然而，随着越来越多的关于预滑动运动的知识被揭示，本研究表明这种性能是可以实现的。
Abstract This paper discusses the issue of precision-limit positioning of a direct drive system with the existence of friction. By precision-limit positioning we mean that, in addition to the common sense of sub-micro, nano, or pico precision, the precision error equals to the resolution of the position sensor used in the feedback loop. This means a zero-count precision error when a digital type position sensor is used. Precision-limit positioning also enforces 100% repeatability as precision is concerned. Of course, this is the limit of the precision that a real control system can achieve. Traditionally, this kind of performance was not considered possible mainly for lacking accurate and enough information about friction, especially the static friction. However, as more and more knowledge of the pre-sliding motion has been revealed, it is shown in this research that such kind of performance can be achieved.