Affordable Access

Publisher Website

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

Authors
Journal
Mechatronics
0957-4158
Publisher
Elsevier
Publication Date
Volume
16
Issue
2
Identifiers
DOI: 10.1016/j.mechatronics.2005.09.006
Keywords
  • Describing Function
  • Friction Identification
  • Harmonic Balance Condition
  • Limit Cycle
  • Nonlinearity
  • Nyquist Criterion
  • Servomechanism
  • Stribeck Effect

Abstract

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.

There are no comments yet on this publication. Be the first to share your thoughts.