High-precision velocity control of direct-drive systems based on friction compensation
Abstract Friction is a complex nonlinear behavior and a significant factor that limits the performance improvement of servo systems. Drawing inspiration from the particular prestiction friction phenomenon exhibited by direct-drive systems upon sudden emergency stops, this paper introduces a dynamic and continuous friction model that includes pre-sliding and gross-sliding regimes. By analyzing the friction dynamics when the system velocity briefly reaches zero, a concave function related to the previous state of the system is used to describe the transition of friction in the pre-sliding regime. The Stribeck model is employed to represent the friction behavior in the gross-sliding regime, ensuring stationarity during friction regime switching. Based on the established friction model, a friction compensation method is developed in velocity control mode. The superior performance of this proposed friction compensation method is confirmed through sine-tracking experiments. Compared with the proportional integral controller and the Stribeck friction compensation method, the peak-to-peak value of the proposed method is reduced by up to 61.1 %, and the root-mean-square (rms) value is reduced by up to 81 %, with the smallest rms value reaching 0.13 mrad, significantly improving the dynamic tracking performance of the system.
- Location
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Deutsche Nationalbibliothek Frankfurt am Main
- Extent
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Online-Ressource
- Language
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Englisch
- Bibliographic citation
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High-precision velocity control of direct-drive systems based on friction compensation ; volume:15 ; number:1 ; year:2024 ; pages:385-394 ; extent:10
Mechanical sciences ; 15, Heft 1 (2024), 385-394 (gesamt 10)
- Creator
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Li, Baoyu
Xie, Xin
Yu, Bin
Liao, Yuwen
Fan, Dapeng
- DOI
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10.5194/ms-15-385-2024
- URN
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urn:nbn:de:101:1-2408051607087.618325948104
- Rights
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Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Last update
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14.08.2025, 10:49 AM CEST
Data provider
Deutsche Nationalbibliothek. If you have any questions about the object, please contact the data provider.
Associated
- Li, Baoyu
- Xie, Xin
- Yu, Bin
- Liao, Yuwen
- Fan, Dapeng
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