Independent-on-model friction compensation study for high-precision servo system based on linear driver

Author

Jiang, Zhihong ; Li, Hui ; Dong, Que ; He, Chuan ; Yang, Jian ; Li, Danfeng ; Wu, Jingxian

Author_Institution

Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China

fYear

2010

Firstpage

435

Lastpage

438

Abstract

In order to reduce the bad influence of friction on servo system to improve servo precision, a method with a linear driver and model reference difference was presented to reduce the nonlinear factors of motor, control system and PWM driver, and with this, the friction moment can be identified and compensated with anti-windup PI regulator and one order high-pass filter. Half physical simulation results validated the presented scheme, it could identify and compensate for the friction moment in servo system, and it could improve servo precision grade from 100th to 1000th, moreover, the presented scheme is independent of friction model, and it is easy to implement in application.

Keywords

PI control; friction; high-pass filters; nonlinear systems; servomotors; PWM driver; antiwindup PI regulator; high-pass filter; high-precision servo system; independent-on-model friction compensation study; linear driver; motor nonlinear factors; Computational modeling; Convergence; Driver circuits; Friction; Process control; Regulators; Servomotors; PWM driver; friction identification and compensation; high-precision servo system; linear driver;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5553977

Filename

5553977