X-y-table Friction Modeling And Simulation

X-Y table was used widely in machine-manufacturing. For many kinds of non-linear characteristics exist in system extensively, the high-accuracy motion control which w ants t he i mplementation sy stem m ust b e c ompensated for t hese n on-linearly. The nonlinearity include as follows: friction, interval, hysteresis effect, saturation, the interfering outside, etc. Nonlinearity of friction among these influences was obvious for motion control. The modeling and simulation of table friction is the main question of this text.At first, on the basis of physical characteristic of friction, four stages were analysed when frictional force varies with speed in detail. Several kinds of friction models put forward in recent years have been introduced. Through comparison Stribeck and LuGre, two kinds of models were chose as the research object.The measurement of output torque of the motor is the key to friction identification and modeling. Few researches about friction identification were carried out by the measurement of output torque directly .Because it's difficult to realize. This paper has put forward a new kind of method for motor to measure output torque. Designing of sensor, scaling and component of test circuit were discussed in detail. The motor torque was measured successfully.The friction of X-Y table system was studied by parameter identification .Output torque of motor were used as the system input. Displacement, speed and acceleration were used as output. Through the analyzing and processing of test record, Stribeck and LuGre model of X-Y table were set up successively by parameter identification. The result of experiment indicates the friction of the models set up was comparatively identical.The simulation of the electromechanical system is a research focus at present too. At first the mathematics model of X-Y table was set up through the analyses of theory. And then it was converted into simulation model by Matlab/Simulink. Proper parameters were selected to operate. In addition simulation model of "static friction +Coulomb friction ", Kamopp, Stribeck, LuGre were set up. The result of simulation also was ideal.Frictional compensation is the object of the research. But for the limit of time thediscussion were carried out preliminary.The completion of this thesis, not only offered a set of feasible methods to measure friction and torque accurately for the servo system of the electromechanical transmission, h aving, b ut a lso 1 ay a good foundation for frictional c ompensation, t he modeling and emulation of X-Y table.