GMDH-Based Autonomous Modeling and Compensation for Nonlinear Friction in Table Drive System

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  • テーブル駆動系におけるGMDHによる非線形摩擦の自律モデリングと補償
  • テーブル クドウケイ ニ オケル GMDH ニ ヨル ヒセンケイ マサツ ノ ジリツ モデリング ト ホショウ

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Abstract

This paper presents a novel mathematical model-based compensation algorithm for the nonlinear friction in table drive systems using Group Method of Data Handling (GMDH). In the proposed compensation, the nonlinear friction can be autonomously modeled as a polynomial expression of appropriate control state variables according to the process of GMDH and, as a result, the complicated structural modeling and its parameterization, indispensable in conventional model-based strategies, can be completely eliminated. In addition, since the proposed GMDH-based model can easily achieve the generalization ability for table drive condition, the robust compensation for friction can be attained against the change of drive conditions. The proposed algorithm has been verified by experiments using a table drive system of actual machine tools and proved the significant performance improvement in the trajectory control with velocity reversal motion.

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