Abstract
Friction is a kind of strong nonlinear factor that severely degrades accuracy in the condition of low speed, velocity reverse, etc. The friction compensation based on model can effectively predict the friction amplitude and compensate the dynamic error. But the transition time of velocity reverse is very short at high speed and high acceleration condition, so the traditional single-rate friction compensation methods have deficient output control. A novel multi-rate friction compensator was proposed. By utilizing the multi-rate controller structure and trajectory refinement, the compensator could output more elaborate compensation component through separating the sample cycle of the friction feedforward compensator and feedback controller without altering feedback control cycle. The complex control system design process was avoided. The experimental result demonstrates that the better effect of error compensation control can be achieved with the multi-rate friction compensator in a wide speed range.
| Original language | English |
|---|---|
| Pages (from-to) | 111-117 |
| Number of pages | 7 |
| Journal | Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical Engineering |
| Volume | 31 |
| Issue number | 24 |
| State | Published - 25 Aug 2011 |
Keywords
- Friction compensation
- Multi-rate
- NC machine tool
- Servo system