Identification and compensation of nonlinear friction characteristics and precision control for a linear motor stage

IEEE/ASME Transactions on Mechatronics

Volumn 18, Issue 4, 2013, Pages 1385-1396

  Lin, Chih Jer ^a   Yau, Her Terng ^b   Tian, Yun Cheng ^a  

^a NATIONAL TAIPEI UNIVERSITY OF TECHNOLOGY   (Taiwan)

^b NATIONAL CHIN YI UNIVERSITY OF TECHNOLOGY   (Taiwan)

Author keywords

Disturbance observer (DO); genetic algorithm (GA); linear servomotor; particle swarm optimization (PSO); variable structure control (VSC)

Indexed keywords

DISTURBANCE OBSERVER; LINEAR SERVO MOTORS; NONLINEAR FRICTION; OPTIMIZATION PROBLEMS; POSITIONAL ACCURACY; TRACKING RESPONSE; VARIABLE STRUCTURE CONTROLLER; VARIABLE STRUCTURE CONTROLS (VSC);

GENETIC ALGORITHMS; LINEAR MOTORS; STICTION; TRIBOLOGY; VARIABLE STRUCTURE CONTROL;

PARTICLE SWARM OPTIMIZATION (PSO);

EID: 84880570940     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2012.2202679     Document Type: Article

References (24)

1. H. Li, M. D. Le, Z.M. Gong, andW. Lin, "Motion profile design to reduce residual vibration of high-speed positioning stages," IEEE/ASME Trans. Mechatronics, vol. 14, no. 2, pp. 264-269, Apr. 2009.
2. S. L. Chen, K. K. Tan, S. Huang, and C. S. Teo, "Modeling and compensation of ripples and friction in permanent-magnet linear motor using a hysteretic relay," IEEE/ASME Trans. Mechatronics, vol. 15, no. 4, pp. 586-594, Aug. 2010.
3. B. Armstrong-Helouvry, D. Pupont, and C. Canudas de Wit, "A survey of models, analysis tools and compensation methods for the control of machines with friction," Automatica, vol. 30, no. 7, pp. 1083-1138, 1994. (Pubitemid 124008280)
4. H. Olsson and K. J. Astrom, "Friction generated limit cycles," IEEE Trans. Control Syst. Technol., vol. 9, no. 4, pp. 629-636, Jul. 2001. (Pubitemid 32644766)
5. D. Karnopp, "Computer simulation of stick-slip friction in mechanical dynamic systems," ASME J. Dyn. Syst., Meas. Control, vol. 107, pp. 100- 103, 1985. (Pubitemid 15513918)
6. P. R.Dahl, "Asolid frictionmodel,"Aerospace Corporation, LosAngeles, CA, Tech. Rep. TOR-01 58(3 107-1 8)-1. Nov. 1968.
7. C. Canudas de Wit, H. Olsson, K. J. Astrom, and P. Lischinsky, "A new model for control of systems with friction," IEEE Trans. Autom. Control, vol. 40, no. 3, pp. 419-425, Mar. 1995.
8. J. Swevers, F. Al-Bender, C. G. Ganseman, and T. Prajogo, "An integrated friction model structure with improved presliding behavior for accurate friction compensation," IEEE Trans. Autom. Control, vol. 45, no. 4, pp. 675-686, Mar. 2000.
9. C. Hsieh and Y.-C. Pan, "Dynamic behavior and modelling of the presliding static friction," Wear, vol. 242, pp. 1-17, Jul. 2000.
10. C. J. Kempf and S. Kobayashi, "Disturbance observer and feedforward design for a high-speed direct-drive positioning table," IEEE Trans. Control Syst. Technol., vol. 7, no. 5, pp. 513-526, Sep. 1999.
11. C. L. Chen, K. C. Lin, and C. Hsieh, "Presliding friction mode: Modeling and experimental study with a ball screw driven set-up," Math. Comput. Model. Dyn. Syst., vol. 11, pp. 397-410, Dec. 2005. (Pubitemid 41831796)
12. K. K. Tan, S. N. Huang, and T. H. Lee, "Robust adaptive numerical compensation for friction and force ripple in permanent-magnet linear motors," IEEE Trans. Magn., vol. 38, no. 1, pp. 221-228, Jan. 2002. (Pubitemid 34740942)
13. Y. L. Tan, J. Chang, and H. L. Tan, "Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties," IEEE Trans. Ind. Electron., vol. 50, no. 5, pp. 944-952, Oct. 2003.
14. C. I. Huang and L. C. Fu, "Adaptive approach to motion controller of linear induction motor with friction compensation," IEEE/ASME Trans. Mechatronics, vol. 12, no. 4, pp. 480-490, Aug. 2007.
15. T. H. Lee, K. K. Tan, and S. Huang, "Adaptive friction compensation with a dynamical friction model," IEEE/ASME Trans. Mechatronics, vol. 16, no. 1, pp. 133-140, Feb. 2011.
16. T. H. Lee, K. K. Tan, S. Y. Lim, and H. F. Dou, "Iterative learning of permanent magnet linear motor with relay automatic turning," Mechatronics, vol. 10, pp. 169-190, 2000. (Pubitemid 32212937)
17. C. J. Lin and C. Y. Lee, "Observer-based robust controller design and realization of a gantry stage," Mechatronics, vol. 21, pp. 185-203, 2011.
18. K. K. Tan, S. J. Chin, and H. F. Dou, "Feedforward suppression of force ripple based on a simplex-optimized dither signal," ISA Trans, vol. 42, pp. 19-27, 2003.
19. S. Zhao and K. K. Tan, "Adaptive feedforward compensation of force ripples in linear motor," Control Eng. Practice, vol. 13, no. 9, pp. 1081- 1092, 2005. (Pubitemid 40621975)
20. J. H. Holland, Adaptation in Natural and Artificial System. Cambridge, MA: MIT Press, 1975.
21. K. F. Man, K. S. Tang, and S. Kwang, Genetic Algorithms: Concepts and Design. London, U.K.: Springer-Verlag, 1999.
22. K. Erenturk, "Hybrid control of a mechatronic system: Fuzzy logic and grey system modeling approach," IEEE/ASME Trans. Mechatronics, vol. 12, no. 6, pp. 703-710, Dec. 2007.
23. C.W. Tsai, C. L. Lin, and C.H.Huang, "MicrobrushlessDC motor control design based on real-coded structural genetic algorithm," IEEE/ASME Trans. Mechatronics, vol. 16, no. 1, pp. 151-159, Feb. 2011.
24. M. Clerc and J. Kennedy, "The particle swarm-explosion, stability, and convergence in a multidimensional complex space," IEEE Trans. Evol. Comput., vol. 6, no. 1, pp. 58-73, Feb. 2002. (Pubitemid 34404564)