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

Maeda, Yuji; Iwasaki, Makoto

doi:10.1109/tie.2012.2229676

Cited by 36 publications

(9 citation statements)

References 24 publications

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“…A rolling friction model (RFM) (10) which considers rheological phenomena at contact points of friction surface is constructed. Figure 12 shows a conceptual diagram of RFM.…”

Section: Rolling Friction Model (Rfm)mentioning

confidence: 99%

“…In the rolling region (macro-displacement region), on the other hand, the rolling friction statically behaves as Coulomb friction. The complicated nonlinear friction behavior causes undesired position responses such as vibratory responses (18) (19) , steady state errors (20) , quadrant glitches (4) (21) , slow settling responses (10) , etc. Furthermore, especially in the inching motion with the micrometer-stroke, the position responses vary among the positioning trials and the varied response deteriorates the settling accuracy (6) (8) (this varied response is defined as "response dispersion" in the following).…”

Section: Introductionmentioning

confidence: 99%

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Feedforward Friction Compensation Using the Rolling Friction Model for Micrometer-stroke Point-to-point Positioning Motion

Maeda

Iwasaki

2018

IEEJ Journal IA

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This paper examines the response dispersion in the micrometer-stroke point-to-point positioning motion of highprecision servo systems with nonlinear friction, and presents an advanced model-based feedforward (FF) friction compensation technique to improve the servo performance. In servo mechanisms with rolling ball bearings and/or guides, rolling friction is well-known to deteriorate not only the transient response but also the settling accuracy, because of the nonlinear and complicated friction properties in the micro-displacement region. Therefore, effects of the rolling friction on the performance deterioration should be carefully considered to perform precise simulation analyses and to design effective controllers. In this study, first, the mechanism of response dispersion in the micrometer-stroke motion is analyzed in detail through numerical simulations using a rolling friction model. Then, an advanced FF friction compensation technique using the rolling friction model is adopted with consideration of the mechanism of response dispersion. The effectiveness of the rolling friction model-based analyses and the friction compensation are demonstrated for a laboratory prototype linear motor-driven table system.

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“…A rolling friction model (RFM) (10) which considers rheological phenomena at contact points of friction surface is constructed. Figure 12 shows a conceptual diagram of RFM.…”

Section: Rolling Friction Model (Rfm)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Feedforward Friction Compensation Using the Rolling Friction Model for Micrometer-stroke Point-to-point Positioning Motion

Maeda

Iwasaki

2018

IEEJ Journal IA

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“…Mechanical bearings (e.g., sliding and especially rolling bearings) are commonly used in these precision motion stages due to their large motion range, high off-axis stiffness, and cost-effectiveness [1]. However, they experience nonlinear pre-motion (i.e., static) friction which adversely affects their positioning precision and speed, causing large tracking errors, long settling times, and stick-slip phenomena [2,3,4,5,6,7,8]. Compensation methods are often used to mitigate the undesirable effects of pre-motion friction, including high-gain feedback [5], model-based feedforward, and feedback controllers [4,7,9,10].…”

Section: Introductionmentioning

confidence: 99%

Friction-induced instability and vibration in a precision motion stage with a friction isolator

Wang,

Dong,

Barry

et al. 2019

Preprint

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Motion stages are widely used for precision positioning in manufacturing and metrology applications. However, nonlinear pre-motion friction can significantly affect their control performance and accuracy. This paper analytically studies the dynamical effect of a friction isolator (FI) proposed in previous studies, in which the beneficial effects of FI on improving the robustness, speed, and precision of the system have been experimentally demonstrated. A fundamental understanding of the dynamical effects of FI is achieved by applying linear analysis on a motion stage with and without FI under the effect of LuGre friction dynamics. The systems are studied with the implementation of PID controllers, which, in terms of practicability in motion control, provide more general observations than when only PD is implemented. Parametric analysis is carried out on the effect of control gains, FI design parameters, and LuGre friction parameters to thoroughly observe the eigenvalue and stability characteristics. Numerical simulation is then established to validate the analytical results and demonstrate the interesting dynamical phenomena with the involvement of LuGre friction, PID control, and the friction isolator in the motion stage system. Based on the results, fundamental analytical conclusions about the FI are reached, which also pave the road for future nonlinear studies.

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“…Under the model-based compensation, the generalized Maxwell-slip model [3], the variable natural length spring model [4], the rheology-based model [5], [6], and so on have been proposed. If designed well, these models can greatly suppress the influence of rolling friction.…”

Section: Introductionmentioning

confidence: 99%

High-Precision Control of Ball-Screw-Driven Stage Based on Repetitive Control Using $n$-Times Learning Filter

Fujimoto

Takemura

2014

IEEE Trans. Ind. Electron.

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This paper presents a novel learning control method for ball-screw-driven stages. In recent years, many types of friction models that are based on complicated equations have been studied. However, it is difficult to treat friction models with equations because the level of precision that is associated with real friction characteristics and parameter tuning are difficult to achieve. In contrast, repetitive perfect tracking control (RPTC) is a repetitive control technique that achieves high-precision positioning. In this paper, we propose the use of RPTC with n-times learning filter. The n-times learning filter has a sharper rolloff property than conventional learning filters. With the use of the n-times learning filter, the proposed RPTC can converge tracking errors n times faster than the RPTC with the conventional learning filter. Simulations and experiments with a ball-screw-driven stage show the fast convergence of the proposed RPTC. Finally, the proposed learning control scheme is combined with data-based friction compensation, and the effectiveness of this combination is verified for the x-y stage of a numerically controlled machine tool.Index Terms-n-times learning, perfect tracking control, repetitive control, zero-phase low-phase filter.

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

Cited by 36 publications

References 24 publications

Feedforward Friction Compensation Using the Rolling Friction Model for Micrometer-stroke Point-to-point Positioning Motion

Feedforward Friction Compensation Using the Rolling Friction Model for Micrometer-stroke Point-to-point Positioning Motion

Friction-induced instability and vibration in a precision motion stage with a friction isolator

High-Precision Control of Ball-Screw-Driven Stage Based on Repetitive Control Using $n$-Times Learning Filter

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