Quadrant glitch compensation using friction model-based feedforward and an inverse-model-based disturbance observer

Jamaludin, Zamberi; Brussel, Hendrik Van; Swevers, Jan

doi:10.1109/amc.2008.4516068

Cited by 46 publications

(28 citation statements)

References 10 publications

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“…Analysis of friction compensation. The performance of the controllers in compensating nonlinear frictional forces is validated based on reduction in magnitude of the quadrant glitches [6]. The performance of the SMC controller is compared to the classical controller.…”

Section: Resultsmentioning

confidence: 99%

Theoretical Analysis of Friction Compensation Using Sliding Mode Control

Rafan

Jamaludin

Tjahjowidodo

et al. 2012

AMM

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Abstract.Friction is an undesired nonlinear phenomenon that reduces position and tracking accuracy in machine tools application. This paper focuses on development of control technique to compensate friction force at motion reversal of a drive system that generates quadrant glitch phenomenon thus improving tracking accuracy. Sliding Mode Control (SMC) is designed to compensate friction. The Generalized Maxwell-Slip (GMS) friction model is applied for numerical analysis. The performance of the controller is analysed based on the reduction in the quadrant glitches magnitude. The performance of the SMC controller is compared with the classical PID controller. Results show that SMC controller yields the smallest quadrant glitch magnitudes.

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Section: Resultsmentioning

confidence: 99%

Theoretical Analysis of Friction Compensation Using Sliding Mode Control

Rafan

Jamaludin

Tjahjowidodo

et al. 2012

AMM

Self Cite

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“…There are also methods using compensation with regard to friction behavior in the small displacement region, based on a brush model of friction caused by elastic deformation [15], a rolling friction model for rolling elements in linear guides [16,17], a generalized Maxwell model representing dynamic behavior of viscoelastic bodies [18], and others. However, most of these methods use complex models, or estimate compensation performance under simple conditions such as step response or reciprocating motion.…”

Section: Introductionmentioning

confidence: 99%

Model‐based feedforward compensation for disturbance during inching and reciprocating motions

Yamamoto

Iwasaki

Ito

et al. 2010

Electrical Engineering Japan

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SUMMARYThis paper presents a feedforward compensation approach for nonlinear disturbances in ball-screw-driven table positioning systems. The compensator design is focused on minimizing the effects of nonlinear disturbances on positioning performance. This is achieved through the use of a mathematical model of precise micrometer disturbance characteristics produced by nonlinear spring behaviors during inching and reciprocating motions. Based on this model, feedforward disturbance compensation is applied in order to improve the disturbance suppression capability. The effectiveness of the proposed positioning control approach has been verified by experiments using a table drive system on a machine stand.

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“…Hence, an efficient and reliable compensation technique is desired in order to improve the tracking performance in machine tools applications. Previous researches on several compensation methods and approaches are discovered and have shown promising results; for example, Inverse Model Based Disturbance Observer [6], classical cascade controller [7] and Repetitive Controller [8,9], and based on the familiar PID control. Result based on PID controller [5] shows that the tracking error can be trim down until millimeter point only whereas results based on [8,9] show that the tracking error is reduced up to micron meter level via direct drive xy table.…”

Section: Introductionmentioning

confidence: 99%

Assessment on tracking error performance of Cascade P/PI, NPID and N-Cascade controller for precise positioning of xy table ballscrew drive system

Abdullah¹,

Jamaludin

Rafan

et al. 2013

IOP Conf. Ser.: Mater. Sci. Eng.

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Abstract. At present, positioning plants in machine tools are looking for high degree of accuracy and robustness attributes for the purpose of compensating various disturbance forces. The objective of this paper is to assess the tracking performance of Cascade P/PI, Nonlinear PID (NPID) and Nonlinear cascade (N-Cascade) controller with the existence of disturbance forces in the form of cutting forces. Cutting force characteristics at different cutting parameters; such as spindle speed rotations is analysed using Fast Fourier Transform. The tracking performance of a Nonlinear cascade controller in presence of these cutting forces is compared with NPID controller and Cascade P/PI controller. Robustness of these controllers in compensating different cutting characteristics is compared based on reduction in the amplitudes of cutting force harmonics using Fast Fourier Transform. It is found that the Ncascade controller performs better than both NPID controller and Cascade P/PI controller. The average percentage error reduction between N-cascade controller and Cascade P/PI controller is about 65 % whereas the average percentage error reduction between cascade controller and NPID controller is about 82 % at spindle speed of 3000 rpm spindle speed rotation. The finalized design of N-cascade controller could be utilized further for machining application such as milling process. The implementation of N-cascade in machine tools applications will increase the quality of the end product and the productivity in industry by saving the machining time. It is suggested that the range of the spindle speed could be made wider to accommodate the needs for high speed machining. .

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Quadrant glitch compensation using friction model-based feedforward and an inverse-model-based disturbance observer

Cited by 46 publications

References 10 publications

Theoretical Analysis of Friction Compensation Using Sliding Mode Control

Theoretical Analysis of Friction Compensation Using Sliding Mode Control

Model‐based feedforward compensation for disturbance during inching and reciprocating motions

Assessment on tracking error performance of Cascade P/PI, NPID and N-Cascade controller for precise positioning of xy table ballscrew drive system

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