Velocity Driven N-order Stick Compensator and Slip Suppressor for Nonlinear Friction in an Oil-Seal-Mounted Geared Motor

摘要

Geared motors require oil for lubrication; however, the oil may leak if no sealing is provided. One method for preventing leaking is to mount oil seals on the input and output sides of the gear. However, this increases the effects of nonlinear friction in the motor, causing stick-slip during velocity zero-crossings. This paper proposes a stick-slip suppression method based on a velocity-driven N-order stick compensator (VDNSC) and a slip suppressor. The proposed stick compensator is based on a motor-side normalization compensator (MNC) and works as an order-variable friction observer, while the proposed slip suppressor is based on velocity-switched high frequency damping. The validity of the proposed method is confirmed through experiments with low-velocity control.