engleski

Nanometric positioning accuracy in the presence of presliding and sliding friction : Modelling, identification and compensation

Presliding and sliding frictional effects, limiting the performances of ultrahigh precision mechatronics devices, are studied in this work. The state-of-the-art related to frictional behavior in both motion regimes is, hence, considered, and the generalized Maxwell- slip (GMS) friction model is adopted to characterize frictional disturbances present in a micromanipulation device. All the parameters of the model are identified via experimental set-ups and included in the overall MATLAB/SIMULINK model. With the aim of compensating frictional effects, the modelled response of the system is thus compared to experimental results when using proportional- integral-derivative (PID) control, feed-forward model-based compensation and a self-tuning adaptive regulator. The adaptive regulator proves to be the most effcient and is, hence, used in the final repetitive point-to-point positioning tests allowing to achieve nanometric precision and accuracy.

Friction identification and compensation ; GMS friction model ; handling of microparts ; nanometric precision and accuracy ; self-tuning adaptive PID

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