Title :
GMDH-based modeling and compensation for nonlinear friction in table drive systems
Author :
Iwasaki, Makoto ; Takei, Hiroto ; Matsui, Nobuyuki
Author_Institution :
Dept. of Electr. & Comput. Eng., Nagoya Inst. of Technol., Japan
Abstract :
This paper presents a novel mathematical model-based compensator design for the nonlinear friction in table drive systems using Group Method of Data Handling (GMDH). In the proposed approach, the nonlinear friction can be autonomously modeled as a polynomial expression for appropriate control state variables according to the process of GMDH and, as a result, the complicated structural modeling and its parameterization, indispensable to conventional model-based strategies, can be completely eliminated. In addition, since the proposed GMDH-based model can achieve the generalization ability for table drive conditions, the robust compensation for friction can be attained against the change of drive conditions. Experimental results using a table drive system of actual machine tools show the significant performance improvement of the proposed algorithm in the trajectory control with velocity reversal motion
Keywords :
compensation; control system synthesis; electric control equipment; friction; materials handling; motion control; motor drives; GMDH-based modeling; group method of data handling; nonlinear friction compensation; parameterization; performance improvement; structural modeling; table drive systems; trajectory control; velocity reversal motion; Drives; Feedback control; Friction; Guidelines; Mathematical model; Motion control; Neural networks; Numerical models; Polynomials; Robustness;
Conference_Titel :
Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-7108-9
DOI :
10.1109/IECON.2001.975546