Title :
Dynamic friction compensation in velocity control of servo-actuators
Author :
Martínez-Rosas, Juan C. ; Alvarez-Icaza, Luis ; Noriega-Pineda, Daniel
Author_Institution :
Inst. de Ing., Univ. Nac. Autonoma de Mexico, Mexico City, Mexico
Abstract :
This paper deals with the velocity control and compensation of dynamic friction in DC servo actuators with harmonic drives, in whose response nonlinear friction is very relevant. A control law is proposed that considers the use of observers and a novel second order dynamic friction model, that works in parallel with an adaptive law that explicitly includes friction compensation. Velocity and position tracking performance has been verified through experimental testing.
Keywords :
actuators; friction; position control; servomechanisms; velocity control; DC servo actuators; dynamic friction compensation; harmonic drives; position tracking; velocity control; Adaptive control; Control systems; DC motors; Friction; Gears; Nonlinear control systems; Pi control; Proportional control; Servomechanisms; Velocity control; Coulomb friction; Dynamic friction models; LuGre friction model; Stribeck effect;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
St. Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5281001
