Frequency domain based feed forward tuning for friction compensation

D.J. Rijlaarsdam, V. Geffen, van, P.W.J.M. Nuij, J. Schoukens, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)

Abstract

In high precision motion control, performance is often limited by the presence of nonlinearities. In this study, the presence of nonlinear influences in a high precision transmission electron microscope stage is investigated using broadband multisine signals. These measurements yield the nature and level of nonlinearities as well as the best linear approximation of the dynamics. By quantitatively measuring the level of nonlinear influences, this method indicates the relevance of improved modeling. Next, the nonlinear influences are modeled explicitly by measuring the higher order sinusoidal input describing functions (HOSIDF) of the system which describe the 'direct' response of the system at the input frequency as well as at harmonics of the input frequency. Application of this technique yields a structured way to design Coulomb friction feed forward in the presence of nonlinearities. This procedure linearizes the input-output dynamics by applying feed forward and measuring the HOSIDFs which indicate the remaining nonlinear effects. Application of this technique yields a structured way to design feed forward in the presence of nonlinearities.
Original languageEnglish
Title of host publicationProceedings of the ASPE 2010 Spring Topical Meeting on Control of Precision Systems, 11-13 April 2010, Massachusetts, USA
Place of PublicationUnited States, Boston-Cambridge
PublisherAmerican Society of Precision Engineering (ASPE)
Pages129-134
Publication statusPublished - 2010

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