DocumentCode
2956327
Title
Friction Cancellation Based on Output Differentiation for Gyro Stabilized Pod
Author
Li Xianli ; Liu Bin
Author_Institution
Coll. of Electron. Sci., Northeast Pet. Univ., Daqing, China
fYear
2011
fDate
30-31 July 2011
Firstpage
1
Lastpage
4
Abstract
Friction severely limits performance in the system of gyro stabilized pod. A new approach of the friction compensation is proposed to estimate friction in real time in order to counter friction, which is based on output differentiation. The friction estimate is used to provide a extra torque at the input to the system, which is equal in magnitude and opposite in phase to machine friction. Two kinds controllers are adopted in gyro stabilized pod. Simulations show that the optimal robust controller has the best performances overall reducing the tracking error apparently.
Keywords
friction; motion control; optimal control; robust control; structural engineering; friction cancellation; friction compensation; friction estimation; gyro stabilized pod; machine friction; optimal robust controller; torque; tracking error reduction; Adaptation models; Friction; Mathematical model; Numerical models; Robustness; Torque; Tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems Engineering (CASE), 2011 International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4577-0859-6
Type
conf
DOI
10.1109/ICCASE.2011.5997782
Filename
5997782
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