Naslov
Compensation of frictional disturbances in ultra- high precision mechatronics devices

Autori
Kamenar, Ervin ; Zelenika, Saša

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 16th EUSPEN International Conference / Bointon, P. ; Leach, R. ; Southon, N. - Cranfield : European Society for Precision Engineering and Nanotechnology (EUSPEN), 2016, 175-176

ISBN
978-0-9566790-8-6

Skup
16th EUSPEN International Conference

Mjesto i datum
Nottingham, Ujedinjeno Kraljevstvo, 30.05.2016. - 03.06.2016

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Frictional disturbances ; friction compensation ; STR adaptive PID ; nanometric precision and accuracy

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

POVEZANOST RADA