Compensation of frictional disturbances in ultra- high precision mechatronics devices (CROSBI ID 634843)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kamenar, Ervin ; Zelenika, Saša
engleski
Compensation of frictional disturbances in ultra- high precision mechatronics devices
Nonlinear frictional effects often limit the performances of ultra-high precision mechatronics devices. Frictional disturbances of a micromanipulation device are modelled in this work via an integrated Generalised Maxwell Slip model. Positioning performances achieved experimentally are compared to the modelled responses. Different control typologies, implemented via a Field Programmable Gate Array, are thus used with the aim of compensating frictional effects. The response of the system to sinusoidal excitations of varying amplitudes is studied next, allowing to establish that, by using an adaptive self-tuning regulator (STR), excellent positioning accuracies are achieved. The STR controller is hence used to repetitively position the mechatronics device in unidirectional point-to-point positioning steps. Nanometric-range precisions and accuracies are finally experimentally achieved.
Frictional disturbances ; friction compensation ; STR adaptive PID ; nanometric precision and accuracy
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Podaci o prilogu
175-176.
2016.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 16th EUSPEN International Conference
Bointon, P. ; Leach, R. ; Southon, N.
Cranfield: European Society for Precision Engineering and Nanotechnology (EUSPEN)
978-0-9566790-8-6
Podaci o skupu
16th EUSPEN International Conference
poster
30.05.2016-03.06.2016
Nottingham, Ujedinjeno Kraljevstvo