Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and Friction
A digital twin-based optimization procedure is presented for an ultraprecision motion system with a flexible shaft connecting the motor to the (elastic) load, which is subject to both backlash and friction. The main contributions of the study are the design of the digital twin and its implementation...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8759853/ |
| _version_ | 1818444378507575296 |
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| author | Rodolfo Haber Guerra Ramon Quiza Alberto Villalonga Javier Arenas Fernando Castano |
| author_facet | Rodolfo Haber Guerra Ramon Quiza Alberto Villalonga Javier Arenas Fernando Castano |
| author_sort | Rodolfo Haber Guerra |
| collection | DOAJ |
| description | A digital twin-based optimization procedure is presented for an ultraprecision motion system with a flexible shaft connecting the motor to the (elastic) load, which is subject to both backlash and friction. The main contributions of the study are the design of the digital twin and its implementation, assuming a two-mass drive system. The procedure includes the virtual representation of mechanical and electrical components, non-linearities (backlash and friction), and the corresponding control system. A procedure for digital twin-based optimization is also presented, in which the maximum absolute position error is minimized while maintaining accuracy with no significant increase in the control effort. The optimal settings for the controller parameters and for the backlash peak amplitude, the backlash peak time, and the hysteresis amplitude are then determined, in order to guarantee an appropriate dynamic response in the presence of backlash and friction. The surface quality of certain manufactured components, such as hip and knee implants, depends on the smoothness and the accuracy of the real trajectory produced in the cutting process that is strongly influenced by the maximum position error. The simulations and experimental studies are presented using a real platform and two references for trajectory control, and a comparison of four digital twin-based optimization methods. The simulation study and the real-time experiments demonstrate the suitability of the digital twin-based optimization procedure and lay the foundations for the implementation of the proposed method at an industrial level. |
| first_indexed | 2024-12-14T19:14:59Z |
| format | Article |
| id | doaj.art-7e53a45c20304bbfba8a873d6c8bf62d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T19:14:59Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-7e53a45c20304bbfba8a873d6c8bf62d2022-12-21T22:50:39ZengIEEEIEEE Access2169-35362019-01-017934629347210.1109/ACCESS.2019.29281418759853Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and FrictionRodolfo Haber Guerra0https://orcid.org/0000-0002-2881-0166Ramon Quiza1Alberto Villalonga2Javier Arenas3Fernando Castano4Center for Automation and Robotics, UPM-CSIC, Madrid, SpainCenter for Advanced and Sustainable Manufacturing Studies, University of Matanzas, Matanzas, CubaCenter for Automation and Robotics, UPM-CSIC, Madrid, SpainFagor Automation S. Coop., Mondragón, SpainCenter for Automation and Robotics, UPM-CSIC, Madrid, SpainA digital twin-based optimization procedure is presented for an ultraprecision motion system with a flexible shaft connecting the motor to the (elastic) load, which is subject to both backlash and friction. The main contributions of the study are the design of the digital twin and its implementation, assuming a two-mass drive system. The procedure includes the virtual representation of mechanical and electrical components, non-linearities (backlash and friction), and the corresponding control system. A procedure for digital twin-based optimization is also presented, in which the maximum absolute position error is minimized while maintaining accuracy with no significant increase in the control effort. The optimal settings for the controller parameters and for the backlash peak amplitude, the backlash peak time, and the hysteresis amplitude are then determined, in order to guarantee an appropriate dynamic response in the presence of backlash and friction. The surface quality of certain manufactured components, such as hip and knee implants, depends on the smoothness and the accuracy of the real trajectory produced in the cutting process that is strongly influenced by the maximum position error. The simulations and experimental studies are presented using a real platform and two references for trajectory control, and a comparison of four digital twin-based optimization methods. The simulation study and the real-time experiments demonstrate the suitability of the digital twin-based optimization procedure and lay the foundations for the implementation of the proposed method at an industrial level.https://ieeexplore.ieee.org/document/8759853/Digital twinultraprecision motion systemfrictionbacklashoptimizationcascade control |
| spellingShingle | Rodolfo Haber Guerra Ramon Quiza Alberto Villalonga Javier Arenas Fernando Castano Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and Friction IEEE Access Digital twin ultraprecision motion system friction backlash optimization cascade control |
| title | Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and Friction |
| title_full | Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and Friction |
| title_fullStr | Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and Friction |
| title_full_unstemmed | Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and Friction |
| title_short | Digital Twin-Based Optimization for Ultraprecision Motion Systems With Backlash and Friction |
| title_sort | digital twin based optimization for ultraprecision motion systems with backlash and friction |
| topic | Digital twin ultraprecision motion system friction backlash optimization cascade control |
| url | https://ieeexplore.ieee.org/document/8759853/ |
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