Nonlinear Compensation Algorithm for Eliminating Low Speed Stick-Slip in Servo System

It is the more difficult to control when system is at low speed, the delay in speed measurement is a potential risk to controller stability, and friction as well. When controlling a super-low speed device, the stick-slip phenomenon appears. The precision and stability of speed are the key indexes. The mathematical model of PMSM and the system step response are analyzed, the Stribeck nonlinear friction model is chosen. The friction model incorporates Coulomb, viscous and Stribeck friction. Using nonlinear compensation algorithm for controller gains, one can switch the active controller parameters as a function of speed. After using the complex controller, a satisfying super-low speed control performance of the servo system can be gained. The experiment image definitely proves it.