Identification Of Mechanical Parameters At Low Velocities

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Identification of mechanical parameters at low velocities for a micropositioning stage using a velocity hysteresis model 
Ioana-Corina Bogdan, Member, IEEE† and Gabriel Abba, Member, IEEE‡
The paper presents a velocity hysteresis friction model. This model can be used for simulation or control of an accurate micropositioning servomechanism. The mechanical and friction parameters are identified from measured signals at low velocities, and with the use of a closed loop identification method. The measured signals are very noised. The number of measurement samples available is very low. The friction model depends on position, velocity and acceleration and includes the
Coulomb, Stribeck and viscous frictions. A hysteresis
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The servomechanisms with ball-screw transmission are the most popular driving systems recognized for high speed and long stroke precision positioning stage [17]. However, these type of systems could be affected by nonlinear effects,
This work is supported by the Council of Region Lorraine,
France, Meusonic SAS and French National Research Agency under the project number ANR-2010-SEGI-003-01-COROUSSO.
†I.C. Bogdan is with the Department of Design, Manufacturing and Control (LCFC), Paul Verlaine University of Metz, Ile du Saulcy,
57045 Metz Cedex, France,,
‡G. Abba is with the Department of Design, Manufacturing and Control (LCFC), Arts et Metiers ParisTech of Metz, France thus the positioning accuracy of the servomechanism can be deteriorated by friction.
Friction is a natural phenomenon, a tangential reaction force between two surfaces in contact and a significant nonlinear effect that is hard to be precisely modeled.
The friction is given by relations (static friction models) between the friction force and the relative velocity between the surfaces in contact. The static models contain Coulomb, viscous or static friction terms, and combination of these three effects, also adding
Stribeck effect. More advanced friction models that cover better the friction compensation are the dynamic friction models based on the static friction models [9], an internal variable which provide the friction evolution
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