Systematic Tuning Parameters of the LuGre Model forFriction Compensation on CNC Machine

• Main Authors: Liu , Chia-Yi, 劉佳怡
• Other Authors: Hsu, Pau-Lo
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/23371337061231766454

碩士 === 國立交通大學 === 電控工程研究所 === 104 === Consider the contouring error mainly caused by friction, compensation techniques are required to eliminate both static and dynamic friction effects. To construct the LuGre friction model for CNC machine tools, three parts are developed to obtain the three parameters for the model. First of all, the steady-state friction model, the nonlinear friction compensator (NFC), and the LuGre dynamic friction model are developed to compensate for the static friction effect and the dynamic friction effect, respectively. In the second part, a systematic method to determine three parameters for the LuGre model is provided by observing the control time window and the maximum pick value of the contouring error with a circular commend. The results suggested that the proposed LuGre compensator is feasible in reducing the contouring error on CNC Machine tools.