Title :
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.
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;
Conference_Titel :
Machine Learning and Cybernetics, 2006 International Conference on
Conference_Location :
Dalian, China
Print_ISBN :
1-4244-0061-9
DOI :
10.1109/ICMLC.2006.258526
