DocumentCode :
2042629
Title :
Compensation of friction and elastic deformation for ball screw drive system
Author :
Xiang Hongbiao ; Wang Shoujun ; Zhang Chunqiu ; Li Xingfei ; Liu Jun
Author_Institution :
Tianjin Key Lab. of the Design & Intell. Control of the Adv. Mechatronical Syst., Tianjin Univ. of Technol., Tianjin, China
fYear :
2015
fDate :
2-5 Aug. 2015
Firstpage :
1031
Lastpage :
1035
Abstract :
Nonlinear friction and elastic deformation seriously affect both static and dynamic performance of mechanical serve system, especially in the high-speed and high-precision systems. This paper focuses on modeling, identification, and compensation of non-linear friction and elastic deformation for ball screw drive system. Firstly, the parameters of the stribeck model are identified by the method of extended kalman filter. And then the parameters of stiffness model of the ball screw are identified by the method of the least square based on force analysis of system. Finally, the feed-forward compensation of friction and elastic deformation is performed. The experimental results show that: after the compensation, the steady state error of low-speed motion decreases from 42μm to ±3μm, and that of high-speed motion decreases from 95μm to ±5μm. Therefore, the method proposed can effectively compensate the disturbance of friction and elastic deformation, and improve the tracking accuracy of the ball screw drive system.
Keywords :
ball screws; design engineering; drives; elastic deformation; friction; least mean squares methods; Stribeck model; ball screw drive system; dynamic performance; elastic deformation; extended Kalman filter; feed-forward compensation; force analysis; least square method; mechanical servo system; nonlinear friction; static performance; stiffness model; Deformable models; Fasteners; Force; Friction; Mathematical model; Servomotors; Tracking; Elastic Deformation; Extended Kalman Filter; Friction; Stribeck Model;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
Type :
conf
DOI :
10.1109/ICMA.2015.7237627
Filename :
7237627
Link To Document :
بازگشت