Abstract
Friction is an undesired nonlinear phenomenon that reduces position and tracking accuracy in machine tools application. This paper focuses on development of control technique to compensate friction force at motion reversal of a drive system that generates quadrant glitch phenomenon thus improving tracking accuracy. Sliding Mode Control (SMC) is designed to compensate friction. The Generalized Maxwell-Slip (GMS) friction model is applied for numerical analysis. The performance of the controller is analysed based on the reduction in the quadrant glitches magnitude. The performance of the SMC controller is compared with the classical PID controller. Results show that SMC controller yields the smallest quadrant glitch magnitudes.
Highlights
In high precision positioning applications, the effects of friction in the system can lead to significant positioning error
Parameter identification of the Generalized Maxwell-Slip model (GMS) friction model is based on actual friction behavior of a system
The performance of the sliding mode control (SMC) controller is compared to the classical controller
Summary
In high precision positioning applications, the effects of friction in the system can lead to significant positioning error. In order to compensate the error due to frictional forces, an effective control strategy is a necessary. A Generalized Maxwell-Slip model (GMS) is incorporated within the system and a sliding mode control (SMC). SMC is designed to study its robustness against the non-linear effect of friction forces.
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