Research Article
A Novel Time-Varying Friction Compensation Method for Servomechanism
Table 1
Main specifications of high-precision X-Y worktable.
| | Parameter | Value |
| | Worktable area (mm×mm) | 560 × 420 | | stroke (mm×mm) | 250 × 150 | | Maximum allowed acceleration (mm·s−2) | 1500 | | Inertia of the plant for -axis (kg·m2) | 0.00298 | | Inertia of the plant for -axis (kg·m2) | 0.00358 | | Torque constant (N·m·V−1) | 2.68 | | Rated torque of servo motor (N·m) | 7.16 | | Sampling period (s) | 0.001 | | Screw lead (mm) | 16 | | Resolution of encoder (m) | 0.5 | | Resolution of scale (m) | 0.5 |
|
|
