Friction identification of ball-screw driven servomechanisms through the limit cycle analysis

Min Seok Kim, Sung-Chong Chung

Research output: Contribution to journalArticle

60 Citations (Scopus)

Abstract

Friction degrades the positioning accuracy of servomechanisms. Friction compensators are required to fabricate high-performance servomechanisms. In order to compensate for the friction in the servomechanism accurately, identification of the friction is required first. This paper proposes a friction identification method of a ball-screw driven servomechanism in the frequency domain. A nonlinear friction model including static, Coulomb, and viscous friction as well as Stribeck effect is formulated by using describing functions. Friction elements are estimated through the limit cycle analysis in a velocity control loop. In order to increase the accuracy of the friction identification process, a Butterworth filter is incorporated into the velocity feedback loop. Validity of the proposed method is confirmed through the numerical simulation and experiment in a ball-screw driven servomechanism. In addition, a model-based friction compensator is applied as a feedforward controller to compensate for the nonlinear characteristics of the servomechanism and to verify the effectiveness of the proposed identification method.

Original languageEnglish
Pages (from-to)131-140
Number of pages10
JournalMechatronics
Volume16
Issue number2
DOIs
StatePublished - 2006 Mar 1

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Ball screws
Servomechanisms
Identification (control systems)
Friction
Butterworth filters
Velocity control
Describing functions

Keywords

  • Describing function
  • Friction identification
  • Harmonic balance condition
  • Limit cycle
  • Nonlinearity
  • Nyquist criterion
  • Servomechanism
  • Stribeck effect

Cite this

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abstract = "Friction degrades the positioning accuracy of servomechanisms. Friction compensators are required to fabricate high-performance servomechanisms. In order to compensate for the friction in the servomechanism accurately, identification of the friction is required first. This paper proposes a friction identification method of a ball-screw driven servomechanism in the frequency domain. A nonlinear friction model including static, Coulomb, and viscous friction as well as Stribeck effect is formulated by using describing functions. Friction elements are estimated through the limit cycle analysis in a velocity control loop. In order to increase the accuracy of the friction identification process, a Butterworth filter is incorporated into the velocity feedback loop. Validity of the proposed method is confirmed through the numerical simulation and experiment in a ball-screw driven servomechanism. In addition, a model-based friction compensator is applied as a feedforward controller to compensate for the nonlinear characteristics of the servomechanism and to verify the effectiveness of the proposed identification method.",
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Friction identification of ball-screw driven servomechanisms through the limit cycle analysis. / Kim, Min Seok; Chung, Sung-Chong.

In: Mechatronics, Vol. 16, No. 2, 01.03.2006, p. 131-140.

Research output: Contribution to journalArticle

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