info:eu-repo/semantics/article
A simplified model for friction compensation in precise feed drives
Fecha
2018-11Registro en:
Villegas, Fernando Javier; Hecker, Rogelio Lorenzo; Flores, Gustavo; A simplified model for friction compensation in precise feed drives; Inderscience Enterprises; International Journal of Mechanisms and Robotic Systems; 4; 4; 11-2018; 339-351
2047-7244
CONICET Digital
CONICET
Autor
Villegas, Fernando Javier
Hecker, Rogelio Lorenzo
Flores, Gustavo
Resumen
Friction is a complex phenomenon with negative effects on the precision of positioning systems. In this work, a single-state friction model for control purposes, aimed to simplify the implementation of control algorithms while keeping a good performance in friction compensation, is analyzed. In particular, the model is capable or representing the Stribeck curve, rate independent presliding hysteresis with non-local memory and non-drifting behavior. This model has been tested on an experimental setup based on a linear motor, and its performance is compared to that of the Generalized Maxwell-slip model, showing better performance on the tracking error.