Adaptive friction compensation for a ball-screw servomotor of a single axis slider using repetitive least-square method co-researchers

Zamberi , Jamaludin and Nur Aidawaty , Rafan and Syamimi , Shamsuddin (2012) Adaptive friction compensation for a ball-screw servomotor of a single axis slider using repetitive least-square method co-researchers. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Machining processes have evolved significantly over time in order to adapt to the increasing demand for speed, accuracy, and efficiency. This research aims at addressing some of these issues, namely the compensation of the effect of friction and cutting forces on the accuracy of the machining process. Simple linear feedback control techniques such as PI, PID, or cascade control alone are insufficient to compensate the nonlinear friction behaviour. In this research, compensating elements are proposed, developed and validated that can be added to existing feedback controllers in order to improve accuracy. Friction-model-based and friction-modelfree approaches are considered to supplement the cascade P/PI position controller. The compensation performance is measured based on the magnitude of the "quadrant glitch" - a product of highly nonlinear complex friction behaviour near zero velocity or motion reversal identified by the appearance of "spikes" at each quadrant of a circle. This research will demonstrate that the tracking performance of a machine tool can be increased significantly by adding dedicated compensation elements to the simple and widely used cascade P/PI position controller.

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