Improvement of settling performance by mode switching feedback compensation in fast and precise positioning

Abstract

This paper presents a mode switching feedback (FB) compensation methodology based on rolling friction properties for the fast and precise positioning. Rolling friction in mechanism behaves as a nonlinear elastic component in the micro displacement region, and deteriorates the settling performance with slow responses. The authors have already proposed a rolling friction model-based friction compensation which could suppress the slow settling response. The conventional approach, however, could not effectively suppress vibratory settling responses due to unknown modeling errors and/or plant perturbations, resulting in the performance deterioration in positioning accuracy. In this study, therefore, a mode switching FB compensation considering the rolling friction properties is applied to provide the required settling performance with well-suppression of both the vibratory response and the slow response. The proposed approach has been verified by experiments using a prototype of industrial positioning devices.

Rolling Friction Model-Based Analyses and Compensation for Slow Settling Response in Precise Positioning

“…In particular, at the settling, slow responses generated after velocity reversal due to the overshoot responses [8]- [13] are well known to deteriorate the settling accuracy. In the past researches, however, mechanisms of the slow response as well as compensation approaches have not been revealed on the basis of the rolling friction characteristics.…”