微小変位領域の摩擦特性を考慮した象限突起補償器

概要

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This paper proposes a friction compensator based on the friction characteristics in the microscopic displacement region. In order to evaluate the motion accuracy of feed drive systems for the NC machine tools, circular tests are generally applied. It is known that the large quadrant glitches are often observed on the circular trajectories, and it is caused by the friction forces of the mechanism. In this paper, the relationship between table displacement and total friction torque around the motor axis is modeled by a simple friction model which can accurately estimate the behavior of the friction torque. The proposed friction model is a function of the table displacement, not a function of velocity. Based on the friction model, a friction compensator is invented. The proposed friction compensator consists of a table position estimator, an inverse transfer function of the servo motor, and the friction model. From the experimental and simulation results, it is clarified that the quadrant glitches can be effectively eliminated by the proposed friction compensator, even if the radius and feed rate of circular motion change.
公益社団法人精密工学会の論文
2008-06-05