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Research Papers

Minimum Tracking Error Control of Flexible Ball Screw Drives Using a Discrete-Time Sliding Mode Controller

[+] Author and Article Information
Chinedum Okwudire

Department of Mechanical Engineering, Manufacturing Automation Laboratory, University of British Columbia, 2054-6250 Applied Science Lane, Vancouver, BC V6T 1Z4, Canada

Yusuf Altintas

Department of Mechanical Engineering, Manufacturing Automation Laboratory, University of British Columbia, 2054-6250 Applied Science Lane, Vancouver, BC V6T 1Z4, Canadaaltintas@interchange.ubc.ca

J. Dyn. Sys., Meas., Control 131(5), 051006 (Aug 18, 2009) (12 pages) doi:10.1115/1.3155005 History: Received July 05, 2007; Revised April 27, 2009; Published August 18, 2009

This paper presents modeling, identification, and discrete-time sliding mode control of ball screw drives with structural flexibility. The mechanical system of the drive is modeled by a two degree-of-freedom system dominated by the coupled longitudinal and torsional dynamics of the drive assembly whose parameters are identified. A mode-compensating disturbance adaptive discrete-time sliding mode controller is then designed to actively suppress the vibrations of the drive. However, it is shown theoretically that, without using minimum tracking error filters, the tracking errors of the drive do not go to zero when sliding mode is reached. Therefore, a method for designing stable and robust minimum tracking error filters, irrespective of the identified open-loop behavior of the drive is proposed. The identification and control of flexible ball screw drives are experimentally tested, and the tracking accuracy of the drives is shown to improve considerably as a result of the designed minimum tracking error filters.

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Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Schematic of a ball screw drive

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Figure 2

Single-axis ball screw drive setup

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Figure 3

Measured and modeled FRF of drive (with table positioned farthest from motor)

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Figure 4

Comparison of simulated tracking bode plots (z1(z)/z1r(z)) of MCDADSC combined with MTEF to MCDADSC only for three different scenarios

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Figure 7

Measured and curve fit cumulative geometric error as a function of table position

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Figure 8

Comparison of measured table tracking error, control force, and estimated disturbance force of MCDADSC combined with MTEF and MCDADSC alone

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Figure 9

Measured bode plots

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Figure 6

Comparison of simulated disturbance bode plots (z1(z)/F1(z)) of MCDADSC combined with MTEF to MCDADSC only for three different scenarios

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Figure 5

Comparison of simulated table tracking error and control force of MCDADSC combined with MTEF to MCDADSC only for three different scenarios

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