Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Friction Compensation Method for Low Speed Servomechanisms

저속 서보메카니즘의 마찰 보상방법

  • 장흥석 (경기공업대학 자동화계열) ;
  • 이재응 (중앙대학교 기계공학) ;
  • 우영환 (중앙대학교 대학원 기계공학) ;
  • 한재영 (중앙대학교 대학원 기계공학과)
  • Published : 2000.06.01
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Abstract

In controlling servomechanism, such as X-Y tables, friction is one of the most significant source of tracking error. Existing friction models work well when the direction of the motion does not change. However, when the direction of motion changes such as traversing a circular profile, relatively large tracking errors referred to as 'quadrant glitches' are introduced. In this paper, a new friction model, which has a term that can compensate the effect of the quadrant glitches, is proposed. The performance and effectiveness of the proposed model are evaluated through the experimental work. The results show that the controlling servomechanism with the proposed model completely remove the quadrant glitches.

Keywords

References

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