DocumentCode :
1764581
Title :
RISE-Based Precision Motion Control of DC Motors With Continuous Friction Compensation
Author :
Jianyong Yao ; Zongxia Jiao ; Dawei Ma
Author_Institution :
Sch. of Mech. Eng., Nanjing Univ. of Sci. & Technol., Nanjing, China
Volume :
61
Issue :
12
fYear :
2014
fDate :
Dec. 2014
Firstpage :
7067
Lastpage :
7075
Abstract :
Continuous friction compensation along with other modeling uncertainties is concerned in this paper, to result in a continuous control input, which is more suitable for controller implementation. To accomplish this control task, a practical method, named as robust integral of the sign of the error controller, is synthesized with a continuous differentiable friction model for high-accuracy motion control of a dc motor. To reduce the noise sensitivity and further improve the tracking accuracy, a desired compensation technique is employed in the proposed controller, in which the model compensation term depends on the reference trajectory only, and its global stability is guaranteed by a proper robust feedback law. Furthermore, the proposed controller theoretically guarantees an asymptotic output tracking performance even in the presence of modeling uncertainties, which is very important for high-accuracy control of motion systems. Comparative experimental results are obtained for the motion control of a dc motor drive system to verify the high-performance nature of the proposed control strategy.
Keywords :
DC motor drives; asymptotic stability; control system synthesis; error compensation; feedback; friction; machine control; motion control; robust control; uncertain systems; DC motor drive system; RISE-based precision motion control; asymptotic output tracking performance; continuous differentiable friction model; continuous friction compensation; error controller synthesis; global stability; model compensation; modeling uncertainties; noise sensitivity reduction; reference trajectory; robust feedback law; robust integral of the sign of the error; tracking accuracy improvement; DC motors; Friction; Motion control; Robustness; Stability analysis; Uncertainty; Continuous friction compensation; dc motor; desired compensation; nonlinear; robust control; uncertainties;
fLanguage :
English
Journal_Title :
Industrial Electronics, IEEE Transactions on
Publisher :
ieee
ISSN :
0278-0046
Type :
jour
DOI :
10.1109/TIE.2014.2321344
Filename :
6809172
Link To Document :
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