Agenda
MSc SPS Thesis presentation
- Wednesday, 27 September 2023
- 10:00
- HB.20.150
Friction Identification on Gantry Stage
Lan Jia
In an era marked by the demand for unprecedented levels of precision in engineering applications, the profound impact of friction forces on motion control systems cannot be underestimated. This thesis extensively investigates the frictional behavior of the Proton Motion Stage, an advanced high-precision motion control system developed by Prodrive Technologies. This research conducts both experimental investigations and computational simulations, offering valuable insights into its friction behavior across diverse conditions and scenarios.
The research begins with an analysis of existing models used to describe friction behavior in precision engineering systems. A critical evaluation of empirical models highlighting strengths and limitations is presented, and the LuGre friction model is selected for further research. Subsequently, the chosen model is used to simulate the behavior of the Proton Motion Stage. The simulation setup is described, including the incorporation of the LuGre friction model and the identification of system parameters. The accuracy of the identification is above 99%. The sensitivity analysis of the parameters is also conducted to enable a comprehensive exploration of friction dynamics. Finally, the research delves into static and dynamic parameter experiments, where cable slab forces' position-dependent impacts and velocity-friction maps that capture the intricate Stribeck effect are presented, and closed-loop and open-loop setups to dissect friction behavior during rapid motion changes are employed. Residual analysis of histogram and 90% confidence autocorrelation and cross-correlation is also presented to study the quality of identification. Overall, this thesis combines theory and practice to enhance our understanding of friction in precision engineering systems.