Title: A simplified model for friction compensation in precise feed drives

Authors: Fernando Villegas; Rogelio Hecker; Gustavo Flores

Addresses: Facultad de Ingeniería, Universidad Nacional de La Pampa – CONICET, Gral. Pico, La Pampa, Argentina ' Facultad de Ingeniería, Universidad Nacional de La Pampa – CONICET, Gral. Pico, La Pampa, Argentina ' Facultad de Ingeniería, Universidad Nacional de La Pampa, Gral. Pico, La Pampa, Argentina

Abstract: Friction is a complex phenomenon with negative effects on the precision of positioning systems. In this work, a single-state friction model for control purposes, aimed to simplify the implementation of control algorithms while keeping a good performance in friction compensation, is analysed. In particular, the model is capable or representing the Stribeck curve, rate independent presliding hysteresis with non-local memory and non-drifting behaviour. This model has been tested on an experimental setup based on a linear motor, and its performance is compared to that of the generalised Maxwell-slip model, showing better performance on the tracking error.

Keywords: friction model; precise positioning; linear motor.

DOI: 10.1504/IJMRS.2018.096292

International Journal of Mechanisms and Robotic Systems, 2018 Vol.4 No.4, pp.339 - 351

Received: 09 Mar 2018
Accepted: 06 Jul 2018

Published online: 20 Nov 2018 *

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