Compensation of Friction and Elastic Deformation for Ball Screw Drive System

被引：0

作者：

Xiang Hongbiao ^{[1
]}

Wang Shoujun ^{[1
]}

Zhang Chunqiu ^{[1
]}

Li Xingfei ^{[2
]}

Liu Jun ^{[1
]}

机构：

[1] Tianjin Univ Technol, Tianjin Key Lab Design & Intelligent Control Adv, Tianjin 300384, Peoples R China

[2] Tianjin Univ, State Key Lab Precis Measuring Technol & Instrume, Tianjin 300072, Peoples R China

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION | 2015年

关键词：

Friction; Stribeck Model; Elastic Deformation; Extended Kalman Filter;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Nonlinear friction and elastic deformation seriously affect both static and dynamic performance of mechanical serve system, especially in the high-speed and high-precision systems. This paper focuses on modeling, identification, and compensation of non-linear friction and elastic deformation for ball screw drive system. Firstly, the parameters of the stribeck model are identified by the method of extended kalman filter. And then the parameters of stiffness model of the ball screw are identified by the method of the least square based on force analysis of system. Finally, the feed-forward compensation of friction and elastic deformation is performed. The experimental results show that: after the compensation, the steady state error of low-speed motion decreases from 42 mu m to +/- 3 mu m, and that of high-speed motion decreases from 95 mu m to +/- 5 mu m. Therefore, the method proposed can effectively compensate the disturbance of friction and elastic deformation, and improve the tracking accuracy of the ball screw drive system.

引用

页码：1031 / 1035

页数：5

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