別紙4 信果程博士)
Dale of subn]1Sslon

平成 29年
Depal'tmen{

月0112日StudentlD Number

機械工学専攻指導教員︑J司, 一.

BUIDINHBA

Supervlsors
声ートき三

氏名

弔 125112 号
ノ︑t{イPP11Cant'S 11amee戸条曾?11・号・

内山直樹

鈴木新一

佐野滋則

Abstract

論文内容の要旨(博士)Title ofThesis

博士学位論文名

Nonlinear Friction Modelinσ and Adaptive compensation for precision
Contouring contr010flndustrial Machines(産業機械の高精度輪郭制御のための非線形摩擦のモデル化と適応補償)(Approx.80o words)
イ三亀︑(要旨 1,200字程度)

Industrial machines have highly contl'ibuted to the development of manufacturing andProductivity. Machine tool is essential industrial macl〕ine for the reason that it faciHtated themanufacturing of mω'e production machines for manufacturing in ot11er industries.1n addition, itenables abHity to reproduce itself. Machine tools have developed notably over time in order toadapt to the incl'easing requirements for speed, precision and productivity. This developlTlent
needs various intense researches on structⅢ'e design, sensor, material and contr0Ⅱer method. This
thesis mainly focuses on precision motion contr0Ⅱer for feed drive syst引Tls in 111achine tool byaddressing friction nonlinear behavior, designing an adaptive friction c0111Pensation model and aSliding mode contouring contr011er

Friction is the main distⅢ'bance in mechanical systems especiaⅡy in c0111Puterized n山11erical
Contr01 (CNC) machine tools with high precision, speed, and P引formance l'equirements. Much
recent reseal'ch have proven that a contr0Ⅱer 、和ith friction compensation provides bettel
P引formance. some classica1 介iction models such as the coulomb‑viscous‑stribeck friction

model,the LU即'e model, and the Generalized MaxweⅡ SⅡP (GMS) model have been proposed toCompensate for frictional ea'ects, reduce the contour error and i1丁Iprove t11e SⅢ'face quality
HO、¥eY引', most of the conventional friction models focus on nonlinear frictional properties in气Pre・sliding region and lo、¥ velocity sliding region. These models do not fU11y describe andCompensate for friction in machine tool systems in case of high speed motion or insufcient
Iubrication. This thesis proposed t、 ,o nonlinear 介iction model for feed drive systems in machine
toolin chapter 2. one caⅡed "static friction modelinclude nonlinear component" is proposed

based on assumption about various friction s0Ⅲ'ces 、Nith nonlinear properties in baⅡ・scre、v feed
drive system、 1t includes a nominal conventional static friction model and a number of nonlinear
介iction sources represented by Gaussian functions. The othel' model ca11ed "statiC 介iction lnodel
include eccentric friction" is the combination of the conventional statiC 介iction model and anonlinear sinusoidal component for fUⅡy describing the eccentriC 介iction induced by eccentric
Phenomenon in lead・scre、刃 feed drive syste111S.1dentifcation meulod for parameters of two
Proposed model and conventional static friction model are presented in chapter 3 and 5. Di仟創'ent

friction model compensation is added to existino feedback contr011ers in orda' to i1丁Iproveaccuracy in single baⅡ・scre、N feed drive, bi・axial table and tm'ee・axis machine tool motion
Contr01

In single baⅡ・scre、へl feed drive systems contr01,介St, generalized ba11Scre、¥ feed drive dynamic

With conventional statiC 介iction modelis presented. Non・bias lead squares techniques [1] andConstant velocity operation [2] are used to identify 1Υ10del parameters. The perfonれance ofthe t、 '0esti1Υlation algorithms have been compared by using simple controlinput excited patten〕SHO、NeV引', this verifcation method did not sho、N lnis】natch bet、Neen esthnated friction model andactual friction value.圦/1e proposed an sinusoidal siσnal tracking experilnent to show theimperfection of conventional fl'iction model. Distinct deviation bet、Neen conventional static介iction 1110del and aCれlal friction value confrms the presence of various f"ction sources 、vithenonlinear propel'ties in baⅡ・scre、N feed drive system. statiC 介iction modelinclude nonlinear

C0111Ponent in chapter 2 are selected to modelthis kind of baⅡ・scre、N feed drive system. A Mauab
Program use the Nelder‑Mead downhiⅡ Silnplex method B] to id引ltify nonlinear 介iction
Para111eters. Fina11y, a tracking contr0Ⅱer design 、Nith friction feedfor、入,ard c01丁Ipensation is

Proposed. simulation and experi1丁lental results on a single baⅡ・scre、N feed drive systems sho、N a
Clearly perfor111ance hηProvenlent by adding proposed nonHnear friction lTlodel for feedfor、Nω'dCompensauon

In bi・axial table contr01, identifed method in chapter 3 is applied to each axis. Trackinσ

Contr011er design 、Nith nonlinear 介iction compensation is proposed. simulation and experimental
results sho、N ule ea'ective of proposed model.1n multi‑axis motion, beside tracking errors, there
are contour el'r01's defned as the normal deviation n'011'1 t11e desired to01・path.1t direct l'epl'esents

Contour performance and is an importance factor in surface lnachining. Therefm'e, we design aContouring contr0Ⅱer 、和ith nonlinear friction compensation fm' bi・axial table based On
two・dimensional contour el'ror esth11ation. comP田、ative experiments 、和ith several di丘'erent
friction compensations at lo、v and high velocities motion are conducted, and it has sho、Nn that theProposed conu'0Ⅱer perfo"ηance is eH'ective at high velocity desire motion,、Nhere the maxhれ山れContour error is reduced by 58% compare to dle contr011er use conventional static friction 1110del毛︑This can be explained 介om the nonlinear 介iction model's ability to accurately describe thefriction nonlineω' properties at high velocity motion,
In three・axis machine tool contr01, frst, t喩'ee lead・scre、N feed drive dynamiC 圦ノith conventional
Static friction are identifed as in chapter 3 by conventionalidentifcation methods. second,

Sinusoidal signaltracking experiment are conducted and sho、v t11e ilTlperfection of conventional
介iction model. However, the deviation bet、¥een conventional static fl'iction model and actual介iction in three・axis machine tool experim引ltal setup sho、和 a repetitive properties. ThisPhenomenon conn'ms assumption about the dominant ecC引ltric friction induced by eccentricIead‑scre、N feed drive systems in chapter 2. Th引'efore, statiC 介iction modelinclude eccentric
friction in chapter 2 are chosen to describe this friction phenomenon. A Matlab program uses theNelder‑Mead do、NnhiⅡ Simplex method B] and "fminsearch" function is designed to identify
eccentric friction parameters. FinaⅡy, a contouring contr0Ⅱer design xvith eccentric friction

Compensation is proposed. simulations and experiments 、Nith out cLltting 、刃引'e conducted based1、」On a circular and a non・circular refa'ence contours. comparative experiments wHh di仟erent
Contr0Ⅱer confgurations shows that the proposed method is mm'e e丘'ective than the contoul'ing
Contr011er 圦ノithout 介iction compensation and 、Nith the conventional friction c0111Pensation.1n theaverage, the mean and the maxi1丁Ium contour 引1勺r in proposed contr0Ⅱer 、Nere reduced by about
26% and 9.3% in circular trajectories in comparison 、¥ith the contourinσ Contr011er that uses theConventional friction n〕odel, respectively.1n addition, a l'obust SⅡding mode contouring contr011er、Nith adaptive friction c0111Pensation is proposed to deal 、刃ith parameters uncertainty, nonline砥'介iction and other unkno、Nn disturbances.＼Ne proposed a nonⅡne磁' switd]ing gain and an

adaptive friction modelin contr0Ⅱer to i111Prove contouring perfonηance of d11'ee・axiS 111achine
to01.1t is sho、Nn that the proposed contr011引'is ea'ective in reducing contour error by about 28.6%
and po、Ner consulnption by about 7.1ツ0 in circular contour tracking experimentThis thesiS 御'esents advanced research about 介iction models in feed drive systems. T、No model
引'e proposed to describe nonlinear friction components depend on particular feed drive system

Tracking contr0Ⅱer and contouring contr011er design with di什erent friction compensation
technique is proposed to achieve acCⅢ'ate 1110tion. Both simulation and experiment are conductedin single ba11・scre、N feed drive, bia‑axial table and three‑axis machine to01. comparison results

Sho、N that the P引fonnance can be improved by adding proposed nonlinear friction 1110delHO、Never, further studies are desired to acquire adaptive nonlinear friction and cutting fω'cesestimation. This 、刃iⅡ ensure a robust friction compensation approach to changing friction
behavior and properties over ti1丁le due to the inauence of lubrication,、¥ear, vi价'ation and etc.1n
addition, this 、Ni11 enable extension to n〕ore complex syst引η Such as fve・axis machine tool andConduct cutting experinlents