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GMDH‐based autonomous modeling and compensation for nonlinear friction in a table drive system
Author(s) -
Iwasaki Makoto,
Shibata Tomohiro,
Matsui Nobuyuki
Publication year - 2001
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.1065
Subject(s) - compensation (psychology) , control theory (sociology) , nonlinear system , table (database) , generalization , trajectory , group method of data handling , lookup table , computer science , control engineering , engineering , control (management) , mathematics , artificial intelligence , machine learning , psychology , mathematical analysis , physics , quantum mechanics , astronomy , psychoanalysis , data mining , programming language
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. © 2001 Scripta Technica, Electr Eng Jpn, 136(3): 58–66, 2001