Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics
This paper proposes a mathematical model of a feed drive system consisting of a cylindrical linear motor and linear ball guides. The friction model consists of two components; a model for the relationships between displacement and friction force under microscopic motion (non-linear spring characteri...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2008-07-01
|
| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/2/4/2_4_675/_pdf/-char/en |
| _version_ | 1811225719669260288 |
|---|---|
| author | Satoshi KANEKO Ryuta SATO Masaomi TSUTSUMI |
| author_facet | Satoshi KANEKO Ryuta SATO Masaomi TSUTSUMI |
| author_sort | Satoshi KANEKO |
| collection | DOAJ |
| description | This paper proposes a mathematical model of a feed drive system consisting of a cylindrical linear motor and linear ball guides. The friction model consists of two components; a model for the relationships between displacement and friction force under microscopic motion (non-linear spring characteristic), and a model for the relationship between velocity and friction force (Stribeck curve). The non-linear spring is modeled from the results of very low frequency simple harmonic motion experiments. The Stribeck curve is modeled from the results of friction force experiments conducted for various constant velocities. The parameters in the model were derived from machine specifications of the feed drive system and experimental results. In addition, in order to account for the quantization error of the linear scale, the controller and amplifier were modeled as a discrete time system. To evaluate the proposed model, step responses and circular motion under various conditions were measured and simulated. The influence of the friction characteristics on dynamic behavior was then investigated. In the experiment, the friction characteristics were changed and compared using three greases with differing viscosities. As a result, it was confirmed that differences in grease viscosity strongly influence the damping of vibrations for the step responses. Furthermore, it was clarified that quadrant glitches do not appear in the microscopic displacement region. For many simulation results, it was verified that the proposed model accurately reflects the real behavior. |
| first_indexed | 2024-04-12T09:12:12Z |
| format | Article |
| id | doaj.art-f02231fb71d340d3aaf3b6fa797a5ec3 |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-04-12T09:12:12Z |
| publishDate | 2008-07-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-f02231fb71d340d3aaf3b6fa797a5ec32022-12-22T03:38:57ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542008-07-012467568410.1299/jamdsm.2.675jamdsmMathematical Model of Linear Motor Stage with Non-Linear Friction CharacteristicsSatoshi KANEKO0Ryuta SATO1Masaomi TSUTSUMI2Tokyo University of Agriculture and TechnologyTokyo University of Agriculture and TechnologyTokyo University of Agriculture and TechnologyThis paper proposes a mathematical model of a feed drive system consisting of a cylindrical linear motor and linear ball guides. The friction model consists of two components; a model for the relationships between displacement and friction force under microscopic motion (non-linear spring characteristic), and a model for the relationship between velocity and friction force (Stribeck curve). The non-linear spring is modeled from the results of very low frequency simple harmonic motion experiments. The Stribeck curve is modeled from the results of friction force experiments conducted for various constant velocities. The parameters in the model were derived from machine specifications of the feed drive system and experimental results. In addition, in order to account for the quantization error of the linear scale, the controller and amplifier were modeled as a discrete time system. To evaluate the proposed model, step responses and circular motion under various conditions were measured and simulated. The influence of the friction characteristics on dynamic behavior was then investigated. In the experiment, the friction characteristics were changed and compared using three greases with differing viscosities. As a result, it was confirmed that differences in grease viscosity strongly influence the damping of vibrations for the step responses. Furthermore, it was clarified that quadrant glitches do not appear in the microscopic displacement region. For many simulation results, it was verified that the proposed model accurately reflects the real behavior.https://www.jstage.jst.go.jp/article/jamdsm/2/4/2_4_675/_pdf/-char/enlinear motor stagelinear ball guidemathematical modelnon-linear frictionfriction model |
| spellingShingle | Satoshi KANEKO Ryuta SATO Masaomi TSUTSUMI Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics Journal of Advanced Mechanical Design, Systems, and Manufacturing linear motor stage linear ball guide mathematical model non-linear friction friction model |
| title | Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics |
| title_full | Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics |
| title_fullStr | Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics |
| title_full_unstemmed | Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics |
| title_short | Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics |
| title_sort | mathematical model of linear motor stage with non linear friction characteristics |
| topic | linear motor stage linear ball guide mathematical model non-linear friction friction model |
| url | https://www.jstage.jst.go.jp/article/jamdsm/2/4/2_4_675/_pdf/-char/en |
| work_keys_str_mv | AT satoshikaneko mathematicalmodeloflinearmotorstagewithnonlinearfrictioncharacteristics AT ryutasato mathematicalmodeloflinearmotorstagewithnonlinearfrictioncharacteristics AT masaomitsutsumi mathematicalmodeloflinearmotorstagewithnonlinearfrictioncharacteristics |