Nonlinear Friction Compensation Control of Cold Rolling Main Drive System with Parameters Uncertainty

2012 ◽  
Vol 7 (20) ◽  
pp. 17-24 ◽  
Author(s):  
Xu Yang ◽  
Chaonan Tong
Keyword(s):  
Cold Rolling ◽  
Drive System ◽  
Friction Compensation ◽  
Nonlinear Friction ◽  
Compensation Control ◽  
Parameters Uncertainty ◽  
Main Drive System

Nonlinear Friction Compensation of a Flexible Robotic Joint with Harmonic Drive

2017 ◽  
Vol 868 ◽  
pp. 39-44
Author(s):  
Peng Fei Zeng ◽  
Ge Dong Jiang ◽  
Chuang Zou ◽  
Xian Zhang ◽  
Cheng Xuan Xie
Keyword(s):  
Control Strategies ◽  
Industrial Robot ◽  
Friction Compensation ◽  
Nonlinear Friction ◽  
Harmonic Drive ◽  
Stribeck Effect ◽  
Compensation Control ◽  
Polynomial Fit ◽  
Feedback Compensation ◽  
Control Accuracy

To suppress the abrupt and unexpected turning velocity fluctuation of the industrial robot under the condition of trajectory tracking, a flexible robotic joint experimental setup with the harmonic drive was established. The measured friction with Stribeck effect and velocity were modeled by a simple polynomial fit method. Two friction compensation control strategies of feedforward and feedback were designed. The friction compensation experiments were carried out on the dSPACE system, the good restraint effect of fluctuation on the turning velocity was verified and the control accuracy of feedback compensation control strategy proved better.

Torsional Vibration Analysis of Drive System for 6-High Cold Rolling Mill

2013 ◽  
Vol 721 ◽  
pp. 572-578
Author(s):  
Yu Hou ◽  
Zhi Jing Zhang ◽  
Yan Xia Guo ◽  
Jiu Qiang Feng ◽  
Jie Luo
Keyword(s):  
Cold Rolling ◽  
Torsional Vibration ◽  
Rolling Mill ◽  
Weak Link ◽  
Drive System ◽  
Cold Rolling Mill ◽  
Vibration Model ◽  
The Impact ◽  
Main Drive System ◽  
Biting Time

The torsional vibration model of main drive system for 6-high cold rolling mill was established. Calculation formula of torque amplification factor (TAF) of main drive system was put forward when the clearance exists or not. The TAF-curve, changing by the biting time of blank, was drawn, and whether torsional vibration could cause mechanical failure in weak link of main drive system was judged. The TAF variation with the biting time of blank was analyzed when the clearance exists. The method to reduce TAF was proposed before the clearance was eliminated, and the effect caused by the impact on main drive system was alleviated.

Friction compensation control of a feed drive system operated in a vacuum

2019 ◽  
Vol 33 (11) ◽  
pp. 5353-5360
Author(s):  
Wontaek Song ◽  
Jaeyoon Shim ◽  
Namhyun Kim ◽  
Geun Byeong Chae ◽  
Wonkyun Lee
Keyword(s):  
Drive System ◽  
Friction Compensation ◽  
Compensation Control ◽  
Feed Drive ◽  
Feed Drive System
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