[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.21289/KSIC.2019.22.4.435

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)

Publication Information

Journal of the Korean Society of Industry Convergence / v.22, no.4, 2019 , pp. 435-445 More about this Journal

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

Ball screw drivers; Disturbance observer; Error model; Position control; Proportional-differential control;

Citations & Related Records

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