Friction Compensation Via Acceleration Feedback Control Based on Friction Estimation

Author

Wang, Zhong-shan ; Zeng, Ming ; Su, Bao-ku

Author_Institution

Space Control & Inertial Technol. Res. Center, Harbin Inst. of Technol.

fYear

2006

fDate

13-16 Aug. 2006

Firstpage

972

Lastpage

977

Abstract

A classical PID controller for a certain turntable positioning system is enhanced to compensate for the Coulomb friction by incorporating an inner acceleration feedback loop. The acceleration signal is assumed to be computed based on friction estimation. In order to estimate the frictional torque, a novel nonlinear observer is developed. And its global asymptotical stability is proved as well. The simulation results are given against those obtained by classical PID control without acceleration feedback loop, to demonstrate the effectiveness of the proposed approach

Keywords

DC motors; acceleration control; asymptotic stability; compensation; feedback; friction; machine control; observers; position control; three-term control; torque; Coulomb friction; DC motor system; PID controller; acceleration feedback control loop; acceleration signal; asymptotical stability; friction compensation; friction estimation; frictional torque; nonlinear observer; turntable positioning system; Acceleration; Bandwidth; Control systems; DC motors; Feedback control; Feedback loop; Friction; Space technology; Three-term control; Torque; Acceleration feedback; Friction compensation; Friction observer;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2006 International Conference on

Conference_Location

Dalian, China

Print_ISBN

1-4244-0061-9

Type

conf

DOI

10.1109/ICMLC.2006.258526

Filename

4028204