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.
- Standort
-
Deutsche Nationalbibliothek Frankfurt am Main
- Umfang
-
Online-Ressource
- Sprache
-
Englisch
- Erschienen in
-
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)
- Urheber
-
Li, Baoyu
Xie, Xin
Yu, Bin
Liao, Yuwen
Fan, Dapeng
- DOI
-
10.5194/ms-15-385-2024
- URN
-
urn:nbn:de:101:1-2408051607087.618325948104
- Rechteinformation
-
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Letzte Aktualisierung
-
14.08.2025, 10:49 MESZ
Datenpartner
Deutsche Nationalbibliothek. Bei Fragen zum Objekt wenden Sie sich bitte an den Datenpartner.
Beteiligte
- Li, Baoyu
- Xie, Xin
- Yu, Bin
- Liao, Yuwen
- Fan, Dapeng
Ähnliche Objekte (12)
Glycerol
The warm Arctic-cold north american pattern in CanESM5 large ensemble simulations: Eurasian influence and uncertainty due to internal variability
First two months of the 2019 Coronavirus Disease (COVID-19) epidemic in China: real-time surveillance and evaluation with a second derivative model
Modification of the wintertime Pacific–North American pattern related North American climate anomalies by the Asian–Bering–North American teleconnection
Experimental Study on the Influence of Coarse Particle on the Yield Stress of Debris Flows
Projection of winter NPO-following winter ENSO connection in a warming climate: uncertainty due to internal climate variability
Coherent changes of wintertime surface air temperatures over North Asia and North America
KRAS Q61H Mutation Confers Cancer Cells with Acquired Resistance to SHP2 Inhibition
The seasonal footprinting mechanism in large ensemble simulations of the second generation Canadian earth system model: uncertainty due to internal climate variability
LSD1/KDM1A inhibitors in clinical trials: advances and prospects
The changing relationship between ENSO and its extratropical response patterns
Testing non-inferiority of a new treatment in three-arm clinical trials with binary endpoints
Glycerol
The warm Arctic-cold north american pattern in CanESM5 large ensemble simulations: Eurasian influence and uncertainty due to internal variability
First two months of the 2019 Coronavirus Disease (COVID-19) epidemic in China: real-time surveillance and evaluation with a second derivative model
Modification of the wintertime Pacific–North American pattern related North American climate anomalies by the Asian–Bering–North American teleconnection
Experimental Study on the Influence of Coarse Particle on the Yield Stress of Debris Flows
Projection of winter NPO-following winter ENSO connection in a warming climate: uncertainty due to internal climate variability
Coherent changes of wintertime surface air temperatures over North Asia and North America
KRAS Q61H Mutation Confers Cancer Cells with Acquired Resistance to SHP2 Inhibition
The seasonal footprinting mechanism in large ensemble simulations of the second generation Canadian earth system model: uncertainty due to internal climate variability
LSD1/KDM1A inhibitors in clinical trials: advances and prospects
The changing relationship between ENSO and its extratropical response patterns
Testing non-inferiority of a new treatment in three-arm clinical trials with binary endpoints
Glycerol
The warm Arctic-cold north american pattern in CanESM5 large ensemble simulations: Eurasian influence and uncertainty due to internal variability
First two months of the 2019 Coronavirus Disease (COVID-19) epidemic in China: real-time surveillance and evaluation with a second derivative model
Modification of the wintertime Pacific–North American pattern related North American climate anomalies by the Asian–Bering–North American teleconnection
Experimental Study on the Influence of Coarse Particle on the Yield Stress of Debris Flows
Projection of winter NPO-following winter ENSO connection in a warming climate: uncertainty due to internal climate variability
Coherent changes of wintertime surface air temperatures over North Asia and North America
KRAS Q61H Mutation Confers Cancer Cells with Acquired Resistance to SHP2 Inhibition
The seasonal footprinting mechanism in large ensemble simulations of the second generation Canadian earth system model: uncertainty due to internal climate variability
LSD1/KDM1A inhibitors in clinical trials: advances and prospects
The changing relationship between ENSO and its extratropical response patterns