Adaptive robust motion control of the surface mounting equipment with dynamic friction compensation

Abstract

The surface mounting equipment (SME) is a critical and complex industrial system which require high-accuracy and high-speed linear motion. In SME applications, the point-to-point motion is the main motion trajectory and often subjected to parametric uncertainties and uncertain nonlinearities. To achieve high performance of the SME, the adaptive robust motion control algorithm with dynamic friction compensation using LuGre model is proposed in this paper. For the parametric uncertainties, this algorithm uses a discontinuous projection-type method to estimate the system parameters. Under the assumption that the disturbance is bounded, the algorithm can be compensate the uncertain nonlinearities. Dynamic friction compensation using LuGre model is introduced instead of traditional static friction compensation. And the nonlinear state observer is designed to estimate unmeasurable friction state. Along with PID and deterministic robust control scheme, the proposed controller is implemented on an SME system at high speed and low speed point-to-point movement. Comparative experimental results reveal the improved tracking accuracy and validate the effectiveness of the proposed approach in SME applications.