Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
권호 표지
DOI QR코드

DOI QR Code

Disturbance Observer and Error Model-based Control of Ball Screw Drives

  • Cho, Chang-Nho (Precision Control Research Institute, Industry Applications Research Division, Korea Electrotechnology Research Institute) ;
  • Lee, Chang-Hyuk (Precision Control Research Institute, Industry Applications Research Division, Korea Electrotechnology Research Institute) ;
  • Kim, Hong-Ju (Korea Electrotechnology Research Institute)
  • Received : 2019.05.08
  • Accepted : 2019.06.18
  • Published : 2019.07.31
Download PDF
⟨ Previous Next ⟩

Abstract

Ball screw drives are widely used in industry, and many studies have been devoted on precise, fast and robust control of ball screw drives. In this study, a novel position control algorithm for ball screw drives is proposed, which consist of a PD controller, a friction feedforward and a disturbance observer. The dynamics and the position error of such controller are analyzed to establish an error model, which can be used to predict the resulting position error of the given desired trajectory. Using the proposed error model, the desired trajectory can be modified so that the predicted position error can be compensated in a feedforward manner. The proposed algorithm does not require the model of the system for the error prediction, and thus can be easily applied to conventional control systems. The performance of the system is verified through simulations and experiments.

Keywords

SOOOB6_2019_v22n4_435_f0002.png 이미지

Fig. 2 Structure of ball screw drive

SOOOB6_2019_v22n4_435_f0003.png 이미지

Fig. 3 Proposed position controller

SOOOB6_2019_v22n4_435_f0004.png 이미지

Fig. 4 Desired trajectory for simulation: (a) position, (b) velocity and (c) acceleration

SOOOB6_2019_v22n4_435_f0005.png 이미지

Fig. 5 Error prediction using error model: (a) actual and predicted errors and (b) prediction error

SOOOB6_2019_v22n4_435_f0006.png 이미지

Fig. 6 Experimental setup

SOOOB6_2019_v22n4_435_f0007.png 이미지

Fig. 7 Friction model

SOOOB6_2019_v22n4_435_f0008.png 이미지

Fig. 8 Desired trajectory: (a) position, (b) velocity, (c) acceleration and (d) jerk

SOOOB6_2019_v22n4_435_f0009.png 이미지

Fig. 9 Resulting position error: (a) trajectory 1, (b) trajectory 2 and (c) trajectory 3

SOOOB6_2019_v22n4_435_f0010.png 이미지

Fig. 1 Structure of inverse model based disturbance observer with PD control

Table 1. RMS and maximum values of position errors

SOOOB6_2019_v22n4_435_t0001.png 이미지

References

  1. Dahl, P. A.: Measurement of solid friction parameters of ball bearings. Proceedings of the 6th annual symposium on Incremental Motion, Control System and Devices, 25, (1977).
  2. Johanastrom, K. and Canudas-de-Wit, C. IEEE Contr. Syst. Mag., 28, 6, 101, (2008). https://doi.org/10.1109/MCS.2008.929425
  3. Al-Bender, F., Lampaert, V. and Swevers, J. IEEE T. Automat. Contr., 50, 11, 1883, (2005). https://doi.org/10.1109/TAC.2005.858676
  4. Erkorkmaz, K. and Kamalzadeh, A. CIRP Annals, 55, 1, 393, (2006). https://doi.org/10.1016/S0007-8506(07)60443-0
  5. Jamaludin, Z., Brussel, H. V., Pipeleers, G. and Swevers, J. CIRP Annals, 57, 1, 403, (2008). https://doi.org/10.1016/j.cirp.2008.03.037
  6. Zhang, C. and Chen, Y. IEEE T. End. Electron., 63, 12, 7682, (2016). https://doi.org/10.1109/TIE.2016.2590992
  7. Huang W. S., Liu, C. W., Hsu, P. L. and Yeh, S. S. IEEE T. End. Electron., 57, 1, 420, (2010). https://doi.org/10.1109/TIE.2009.2034178
  8. Han, J. IEEE T. End. Electron., 56, 3, 900, (2009). https://doi.org/10.1109/TIE.2008.2011621
  9. Wu, J., Han, Y., Xiong, Z. and Ding, H. Int. J. Mach. Tool. Manu., 117, 1, (2017).
  10. Onishi, K. Trans. Japanese Society of Electrical Engineering, 107, D, 83, (1987).
  11. Eom, K. S., Suh, I. H. and Chung, W. K.: Disturbance observer based path tracking control of robot manipulator considering torque saturation. Proceedings of 8th international Conference on Advanced Robotics, Monterey, pp.7-9, (1997).
  12. Hsia, T. C., Lasky, T. A. and Guo, Z.: Robust Independent Robot Joint Control: Design and Experimentation. Proceedings of IEEE International Conference on Robotics and Automation, Philadelphia, pp.1329-1334, (1988).
  13. Hanifzadegan, M. and Nagamune, R. J. Dyn. Sys. Meas. Control., 136, 1, 10.1115/1.4025154, (2013).
  14. Liu, C., Liu, J., Wu, J. and Xiong, Z: High precision embedded control of a high acceleration positioning system. Proceedings of International Conference on Intelligent Robotics and Applications, Montreal, pp.551-560, (2012).
  15. Altintas, Y.: Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design. 2nd Ed., Cambridge University Press, New York, pp.211-239, (2012).