한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제19권6호
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  • Pages.51-61
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  • 2002
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

비선형 동적마찰을 갖는 XY볼-스크류 구동계에 대한 위치 추종제어

Position Tracking Control on the XY Ball-screw Drive System with the Nonlinear Dynamic Friction

  • 한성익 (순천제일대학 기계전기제어학부)
  • Han, Seong-Ik (Dept.of Mechanical Electric Control, Suncheon College)
  • 발행 : 2002.06.01
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초록

A tracking control scheme on the XY ball-screw drive system in the presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the Lund-Grenoble friction model to compensate effects of friction. The conventional VSC method that often has been used as a non-model-based friction controller has poor tracking performance in high-precision position tracking application since it cannot compensate the friction effect below a certain precision level completely. Thus to improve the precise position tracking performance, we propose the integral type VSC method combined with the friction-model-based observer. Then this control scheme has the high precise tracking performance compared with the non-model-baked VSC method and the PID control method with a similar observer. This fact is shown through the experiment on the XY ball-screw drive system with the nonlinear dynamic friction.

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참고문헌

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