DESIGN THE HIGH-SPEED MICRO-MOTION CONTROLLER FOR PECK DRILLING WITH THE LUGRE FRICTION MODEL

Abstract

Micro-motion control on the peak drilling, particularly in 3C industry processing, is difficult for the spindle to precisely follow the high-frequency commands, mainly because the repetitive motion distance is very small and it passes through zero velocity frequently to cause serious problems of friction. Experimental results indicate that the axis is nearly unmoved by applying traditional controllers in practice. By applying the static friction compensation constructed under constant-speed operations, results indicate that it is suitable only when the motion command is slowly-varying in a low frequency range. In this paper, the LuGre model is adopted and a systematic approach is proposed to obtain corresponding modeling coefficients. Results indicate that by applying the controller with the LuGre model, the bandwidth of the velocity loop is greatly improved from 394Hz to 663.7Hz, and the position loop is greatly improved from 9.5 Hz to 113.8 Hz. The LuGre model has also been realized on a DYNA 1007 CNC machine to prove its feasibility. Moreover, the tracking error of its peck drilling is improved 67.5% in RMS and the maximum peak error improvement is 72.0%.