Table 1 Servo model parameters, controller parameters and friction model parameters of each feed drive axis
Parameters | X axis | Y axis | Z axis |
|---|---|---|---|
Servo model parameters | |||
\(K_\text{a}\) (A/V) | 3.1201 | 3.1201 | 3.1201 |
\(K_\text{t}\) (N\(\cdot\)m/A) | 0.8910 | 0.8910 | 0.8910 |
\(r_\text{g}\) (mm/rad) | 1.5915 | 1.5915 | 6.3662 |
J (\(\times 10^{-3}\) kg\(\cdot\)m\(^2\)) | 3.3177 | 3.8650 | 15.974 |
B (kg\(\cdot\)m\(^2\)/s) | 0.0192 | 0.0219 | 0.0041 |
Controller parameters | |||
\(K_\text{f}\) | 1.0 | 1.0 | 1.0 |
\(K_\text{p}\) (rad/(mm\(\cdot\)s)) | 102.2 | 102.2 | 50.00 |
\(K_\text{v}\) (V\(\cdot\)s/rad) | 0.1846 | 0.2151 | 0.3500 |
\(T_\text{v}\) (s) | 0.12 | 0.12 | 0.12 |
Friction model parameters | |||
\(d_\text{s}^+\) (V) | 0.6481 | 0.8187 | 1.0412 |
\(d_\text{s}^-\) (V) | − 0.8235 | − 0.9065 | − 0.2210 |
\(d_\text{c}^+\) (V) | 0.5326 | 0.6949 | 0.9599 |
\(d_\text{c}^-\) (V) | − 0.6459 | − 0.8740 | − 0.1606 |
\(\Omega _\omega\) (rad/s) | 0.2 | 0.2 | 0.2 |
\(\Omega _1^+\) (rad/s) | 0.8227 | 0.5890 | 0.6615 |
\(\Omega _1^-\) (rad/s) | − 0.6357 | − 1.2170 | − 2.1453 |
\(\Omega _2^+\) (rad/s) | 0.8227 | 0.5890 | 0.6907 |
\(\Omega _2^-\) (rad/s) | − 0.6357 | − 2.2011 | − 2.8072 |