Title :
An Adaptive Sliding Mode Compensation for Friction and Force Ripple in PMSM AC Servo System
Author_Institution :
Chinese Acad. of Sci., Beijing
Abstract :
Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of permanent magnet synchronous motor servo system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, an adaptive sliding mode controller is proposed to compensate the nonlinear effect of friction and force ripple. The compensation scheme consists of a PD component and an adaptive sliding mode component for estimating the unknown system parameters. Using Lyapunov stability theorem, asymptotic stability analysis and position tracking performance are guaranteed. Experimental results well verify the feasibility and the effectiveness of the proposed scheme for high-precision motion trajectory tracking.
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; permanent magnet motors; servomechanisms; variable structure systems; AC servo system; LuGre dynamic friction; Lyapunov stability; adaptive sliding mode compensation; asymptotic stability; continuous control law; force ripple; friction ripple; motion trajectory tracking; permanent magnet synchronous motor; position tracking; positioning accuracy; Adaptive control; Control systems; Force control; Friction; Lyapunov method; Nonlinear dynamical systems; Permanent magnet motors; Programmable control; Servomechanisms; Sliding mode control; Adaptive Control; Force Ripple; Friction Compensation; SlidingMode Control;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347501
