Title:
FRICTION FORCE COMPENSATION METHOD AND COMPENSATION APPARATUS FOR LINEAR GUIDE RAIL DISPLACEMENT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2024/036651
Kind Code:
A1
Abstract:
A friction force compensation method and compensation apparatus for a linear guide rail displacement system. The method comprises: establishing a friction force-speed model, collecting moving speeds and driving force of a movable platform, and screening the speed and the driving force of a uniform-motion section therefrom, the driving force being used as the friction force of the uniform-motion section; by means of a compression factor particle swarm algorithm, solving model parameters of the friction force-speed model to obtain a complete friction force-speed model; writing into a feedforward compensator the complete friction force-speed model, and according to the friction force-speed model, calculating a dynamic friction force and a corresponding friction force feedforward current signal on the basis of an instruction speed; and providing to a servo controller the friction force feedforward current signal as feedforward compensation data, and performing friction force compensation. The method can improve the control performance of heavy-load precision displacement devices, and reduce influences caused by nonlinear friction forces on tracking errors and system stability in linear guide rail servo systems.
Inventors:
HAN YU (CN)
FAN YUJIAO (CN)
ZHANG XIANGYU (CN)
ZHU QINGNA (CN)
FAN YUJIAO (CN)
ZHANG XIANGYU (CN)
ZHU QINGNA (CN)
Application Number:
PCT/CN2022/114148
Publication Date:
February 22, 2024
Filing Date:
August 23, 2022
Export Citation:
Assignee:
BEIJING U PREC TECH CO LTD (CN)
BEIJING UNITED VICTORY PRECISION TECH CO LTD (CN)
BEIJING UNITED VICTORY PRECISION TECH CO LTD (CN)
International Classes:
G05B13/04; H02P23/00
Foreign References:
| CN110460277A | 2019-11-15 | |||
| CN105700470A | 2016-06-22 | |||
| CN107036963A | 2017-08-11 | |||
| CN114527710A | 2022-05-24 | |||
| JP2021002248A | 2021-01-07 |
Other References:
CONGPENG ZHANG, LIU QIANG: "Friction modeling and compensation of positioning stage driven by linear motors", JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS, vol. 34, no. 1, 15 January 2008 (2008-01-15), pages 47 - 50, XP093140819
Attorney, Agent or Firm:
GRANDER IP LAW FIRM (CN)
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