Adaptive compensation for friction and force ripple in ship-borne gun servo system

Author

Wenjing, Zhang ; Qinghai, Fang

Author_Institution

Res. & Design Center, Autom. Res. & Design Inst. of Metall. Ind., Beijing

fYear

2008

fDate

25-27 June 2008

Firstpage

3434

Lastpage

3438

Abstract

Dynamic friction and force ripple are the most important factors that affect the positioning accuracy of ship-borne gun 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, a dual-observer is used to observe the unknown state of friction model, then a dynamic compensation approach employing adaptive law is designed to compensate the nonlinear effect of friction and force ripple in gun servo system. Experimental results well verify the feasibility and the effectiveness of the proposed scheme for high-precision motion trajectory tracking.

Keywords

command and control systems; friction; motion compensation; observers; position control; servomechanisms; tracking; LuGre dynamic friction model; adaptive compensation; dual-observer; force ripple; friction ripple; motion trajectory tracking; positioning accuracy; ship-borne gun servo system; Adaptive control; Control systems; Design automation; Force control; Friction; Nonlinear dynamical systems; Programmable control; Servomechanisms; Tracking; Trajectory; Friction compensation; Gun servo system; adaptive control; force ripple;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593470

Filename

4593470