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Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward

This paper presents quadrant glitches analysis using various classical feedforward controllers for sliding and presliding regime. An aircut tracking in a circular motion is performed using an XY positioning stage with certain amplitude and velocities. Static friction model, Generalized Maxwell Slip...

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Main Authors: Nur Aidawaty , Rafan, Zamberi, Jamaludin, Tsung , Heng Chiew, Lokman , Abdullah, Mohd Nazmin , Maslan
Format: Conference or Workshop Item
Language:English
Published: 2014
Subjects:
TJ Mechanical engineering and machinery
TS Manufactures
Online Access:http://eprints.utem.edu.my/id/eprint/13725/1/isoris2014.jpg
http://eprints.utem.edu.my/id/eprint/13725/
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spelling my.utem.eprints.137252015-12-29T06:26:42Z http://eprints.utem.edu.my/id/eprint/13725/ Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward Nur Aidawaty , Rafan Zamberi, Jamaludin Tsung , Heng Chiew Lokman , Abdullah Mohd Nazmin , Maslan TJ Mechanical engineering and machinery TS Manufactures This paper presents quadrant glitches analysis using various classical feedforward controllers for sliding and presliding regime. An aircut tracking in a circular motion is performed using an XY positioning stage with certain amplitude and velocities. Static friction model, Generalized Maxwell Slip (GMS) model and combination of both models are applied with feedforward Proportional-Integral-Derivative (PID) controller for this study. Radial error is obtained and tabulated according to the respective angle to show glitches at each quadrant. Motion reversal due to the sinusoidal input near zero velocity in a circular motion developed Stribeck effect. Due to stick-slip motion within a certain amplitude and frequency had generated glitches near zero positions. Comparing results of glitches produced with and without friction feedforward controller, reduction of errors has been observed. The glitches have a higher reduction in lower velocity. With a combination of static friction model and GMS model, the magnitude of quadrant glitches has better reduced and overall tracking errors, as well. 2014-10-16 Conference or Workshop Item PeerReviewed text en http://eprints.utem.edu.my/id/eprint/13725/1/isoris2014.jpg Nur Aidawaty , Rafan and Zamberi, Jamaludin and Tsung , Heng Chiew and Lokman , Abdullah and Mohd Nazmin , Maslan (2014) Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward. In: International Symposium on Research in Innovation and Sustainability 2014, 15-16 October 2014, Universiti Teknikal Malaysia Melaka. (In Press)
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic TJ Mechanical engineering and machinery
TS Manufactures
spellingShingle TJ Mechanical engineering and machinery
TS Manufactures
Nur Aidawaty , Rafan
Zamberi, Jamaludin
Tsung , Heng Chiew
Lokman , Abdullah
Mohd Nazmin , Maslan
Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward
description This paper presents quadrant glitches analysis using various classical feedforward controllers for sliding and presliding regime. An aircut tracking in a circular motion is performed using an XY positioning stage with certain amplitude and velocities. Static friction model, Generalized Maxwell Slip (GMS) model and combination of both models are applied with feedforward Proportional-Integral-Derivative (PID) controller for this study. Radial error is obtained and tabulated according to the respective angle to show glitches at each quadrant. Motion reversal due to the sinusoidal input near zero velocity in a circular motion developed Stribeck effect. Due to stick-slip motion within a certain amplitude and frequency had generated glitches near zero positions. Comparing results of glitches produced with and without friction feedforward controller, reduction of errors has been observed. The glitches have a higher reduction in lower velocity. With a combination of static friction model and GMS model, the magnitude of quadrant glitches has better reduced and overall tracking errors, as well.
format Conference or Workshop Item
author Nur Aidawaty , Rafan
Zamberi, Jamaludin
Tsung , Heng Chiew
Lokman , Abdullah
Mohd Nazmin , Maslan
author_facet Nur Aidawaty , Rafan
Zamberi, Jamaludin
Tsung , Heng Chiew
Lokman , Abdullah
Mohd Nazmin , Maslan
author_sort Nur Aidawaty , Rafan
title Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward
title_short Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward
title_full Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward
title_fullStr Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward
title_full_unstemmed Quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward
title_sort quadrant glitch analysis for ball screw driven positioning stage using friction compensation model feedforward
publishDate 2014
url http://eprints.utem.edu.my/id/eprint/13725/1/isoris2014.jpg
http://eprints.utem.edu.my/id/eprint/13725/
_version_ 1665905559587520512
score 13.211869

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