Research on Dynamic Friction Compensation of High-speed Precision slider

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1、AppliedMechanicsandMaterialsVols.130-134(2012)pp2742-2745Onlineavailablesince2011/Oct/27atwww.scientific.net©(2012)TransTechPublications,Switzerlanddoi:10.4028/www.scientific.net/AMM.130-134.2742ResearchonDynamicFrictionCompensationofHigh-speedPrecisionSlider1a2b3cSunhu

2、a,DaiYueHong,TangChuanSheng#SchoolofMechanicalEngineeringofUniversityofElectronicalScienceandTechnologyUniversityChengDuChinaabsunhua3654711@yahoo.com.cndaiyh@uestc.edu.cnKeywords:Linearmotorslidersystem;Friction;compensation;Liapunovfunction;LaSalleInvarianceAbstract.T

3、hetracingprecisionisgreatlyinfluencedbecauseofthefrictionwhenhigh-preciselinearmotormovedinalowspeed.Explorethewaysofnonlinearfrictioncompensationinapracticalangle.AtribologymathematicalmodelhasbeenfoundbasedontheviscoplasticitytheoryandStribeckfrictionmathematicalmodel

4、.ThispaperaimsatapplyingtheStribeckfrictionmathematicalmodeltolinearmotorslidersystemanddesigningthecontroller.Thecontrollercanbedesignedbythefeed-forwardIntegraltoconductidentificationandcompensationonline,accordingtothecharactersoftribologymodel.thestabilityofsystemsh

5、asalsobeenanalyzedbyusingLiapunovfunctionsandLaSalleInvariancePrinciple.Ashasbeendemonstratedbytheexperimentalresults,thefrictioncompensationofthismodelhasimprovedthetracingperformanceoflinearmotorslidersystem.IntroductionThetracingprecisionisgreatlyinfluencedbecauseoft

6、hefrictionwhenhigh-preciselinearmotor[1]movedinalowspeed,whichresultsfromtracingerrors.ThePerformanceatLowSpeedisoneofthemostimportantsignsinallindexes.Thushowtoguaranteethelow-speedstabilityandtracingprecisionhasbecomehotspotofstudy.Correspondingly,thecompensationmetho

7、dsfordifferentkindsoffrictionhavebeenderivedfrommanyliteratures,theyareclassifiedtintotwodifferentcategories:regardfrictionasadisturbanceexternaltosystemsoastoadoptNonlinearPID[3][2]CompensationBasedonNeuralNetwork,AdaptiveCompensation,FuzzyCompensationtosuppress,butthe

8、resultisnotsosatisfactory.Anotherisaresearchonpredictivecompensationcontrolbasedonthefeed-forwardofmodel,topre