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Friction compensation control of a feed drive system operated in a vacuum

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Abstract

In a feed drive system, friction is a typical nonlinear component that increases the complexity of the dynamic behavior. A feed drive system equipped with rolling contact components, such as ball screws and linear motion guides, undergoes complicated friction behavior. In this regard, various techniques have been proposed to decrease the effect of friction and thus achieve the precise control of the feed drive system. Friction compensation control is a widely used technique that cancels out the friction force by applying an additional driving force that corresponds to the friction estimated by a friction model. A variety of friction models have been proposed to estimate the friction force accurately for friction compensation control. However, conventional friction models have focused on estimating the friction force of a feed drive system operating in atmospheric pressure although air pressure affects the friction characteristics. The accuracy of the conventional friction models might decrease for a feed drive system operated in a vacuum. This paper presents a friction compensation controller on the basis of a new friction model that considers the effect of the vacuum pressure on friction. A vacuum chamber that can control the vacuum pressure and a vacuum-compatible feed drive system are constructed to measure the friction force at various vacuum pressures. The relationship between the friction characteristics and the vacuum pressure is investigated on the basis of the experimental results and applied to the friction model. A friction compensation controller based on the friction model and Kalman filter is designed and evaluated experimentally.

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Acknowledgments

This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (NRF-2019R1F1A1050719).

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Authors and Affiliations

  1. School of Mechanical Engineering, Yonsei University, Seoul, 03759, Korea

    Wontaek Song

  2. School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, 61005, Korea

    Jaeyoon Shim

  3. School of Mechanical Engineering, Chungnam National University, Daejeon, 34134, Korea

    Namhyun Kim, Geun Byeong Chae & Wonkyun Lee

Authors
  1. Wontaek Song
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  2. Jaeyoon Shim
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  3. Namhyun Kim
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  4. Geun Byeong Chae
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  5. Wonkyun Lee
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Corresponding author

Correspondence to Wonkyun Lee.

Additional information

Recommended by Editor Hyung Wook Park

Wontaek Song is a graduate student at the School of Mechanical Engineering, Yonsei University. His present research interests include modeling and precision control of feed drive systems.

Jaeyoon Shim is a graduate student at the School of Mechanical Engineering, Gwangju Institute of Science and Technology. His present research interests include robotic auto-lapping systems.

Namhyun Kim is a graduate student at the School of Mechanical Engineering, Chungnam National University. His present research interests include precision control of robot arms and feed drive simulation.

Geun Byeong Chae is a graduate student at the School of Mechnical Engineering, Chungnam National University. His present research interests include monitoring and control of machining processes based on machinine learning.

Wonkyun Lee received his B.S. and Ph.D. degrees in Mechanical Engineering in 2008 and 2015, respectively, from Yonsei University, Seoul, South Korea. He is currently an Assistant Professor at the School of Mechanical Engineering, Chungnam National University, since 2016. His research interests include robotic machining systems, machine learning, friction compensation control, and machine tool optimization based on cyber-physical systems.

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Song, W., Shim, J., Kim, N. et al. Friction compensation control of a feed drive system operated in a vacuum. J Mech Sci Technol 33, 5353–5360 (2019). https://doi.org/10.1007/s12206-019-1028-0

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  • DOI: https://doi.org/10.1007/s12206-019-1028-0

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