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IJMERR 2022 Vol.11(4): 198-206

Modeling and Identification of Friction and Weight Forces on Linear Feed Axes as Part of a Disturbance Observer

Schöberlein Chris, André Sewohl, Holger Schlegel, and Martin Dix
Chemnitz University of Technology, Institute for Machine Tools and Production Processes, Chemnitz, Germany

Abstract—Monitoring of production systems with special attention to the manufacturing processes is subject of intensive research efforts. Besides additional sensors close to the contact point between tool and workpiece, the pre-installed drive internal measuring systems of the feed axes offer a potential opportunity to access these forces. Due to their distance from the point of action, superimposed phenomena must be taken into account to achieve an appropriate estimation. In the case of linear feed axes, this applies in particular to prevailing frictional torques and forces. Depending on the structure of the feed axis, position- or workspace-dependent effects should also be considered. In addition, the influence of gravity becomes noticeable for vertical axes. In the context of this paper, suitable models and identification routines for both phenomena are developed and validated on a three-axis machine tool. Particular attention is devoted to an automated parameter identification as well as a compromise between model accuracy and the number of assignable parameters. Finally, all models are verified via exemplary air cutting and face milling experiments.

Index Terms— production system, machine tool, linear feed axis, friction force, weight force, modelling, identification, disturbance observer

Cite: Schöberlein Chris, André Sewohl, Holger Schlegel, and Martin Dix, "Modeling and Identification of Friction and Weight Forces on Linear Feed Axes as Part of a Disturbance Observer," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 4, pp. 198-206, April 2022. DOI: 10.18178/ijmerr.11.4.198-206

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.