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《Journal of Beijing University of Aeronautics and Astronautics》 2008-01
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Friction modeling and compensation of positioning stage driven by linear motors

Zhang Congpeng Liu Qiang(School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100083,China)  
An H-type precise positioning table driven by dual linear motors was introduced.To decrease the velocity following error and positional error of the table,friction modeling and compensation of this precise positional system were studied.As the guide ways of the motion table have different friction characteristics at different positions,an improved friction modeling method was proposed,based on the classical Stribeck friction model and slide plate position to get better compensation effect.The improved Stribeck friction models of the guide ways were identified through experiments and parameters regression analysis.Based on the improved friction identification model,friction was compensated by feed forward technique.Friction compensation experiments results show that the friction compensation based on friction model enhances the control performance of the table and the improved friction model has better compensation effect than traditional Stribeck friction model.The improved friction model is suitable for friction compensation of the positional table with long travel distance.
【Fund】: 国家自然科学基金资助项目(50390063)
【CateGory Index】: TM359.4
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