Abstract
This paper examines a frequency response analysis (FRA) method which aims at obtaining an precise linear plant model for a controller design, for fast and precise positioning of mechatronic systems with nonlinear friction. As well known, friction generated at linear guideways and/or bearings shows nonlinear and complicated behaviors, which causes deterioration of the motion control performance. In addition, the frequency response of the plant system dynamically changes depending on the measurement condition such as displacement and/or excitation force in the frequency domain analysis. The dynamic change of the frequency response makes it difficult to identify the actual linear plant characteristic for design of a precise simulator and/or an effective compensator. In this study, therefore, effects of parameter identification errors due to the dynamic frequency property on the fine positioning performance are clarified by simulation analyses with a nonlinear friction model. Then, a fundamental friction model-based FRA method is introduced, and the effectiveness of the presented FRA and effects of the friction model errors are demonstrated by frequency-domain simulations.
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