Title :
Zero phase error tracking control with friction compensation based motion control system
Author :
Wang, Xin ; Liu, Nengfeng ; Liu, Zhiqiang ; Wang, Maobin
Author_Institution :
Shenzhen Grad. Sch., Harbin Inst. of Technol., Shenzhen, China
Abstract :
For motion system, the friction and servo lag are the factors of causing tracking error. Traditionally the friction is regarded as external disturbance and compensated by closed-loop control system. It often leads to quadrant glitches. In this paper, zero phase error tracking control (ZPETC) with friction compensation is presented where the friction model-LuGre model is established to estimate friction condition. Simulation and experimental results show that the controller can refine the tacking error compared with the ZPETC without friction compensation.
Keywords :
closed loop systems; friction; motion control; tracking; variable structure systems; closed-loop control system; friction compensation; friction condition estimation; motion control system; tracking error; zero phase error tracking control; Automation; Control systems; Error correction; Friction; Motion control; Motion planning; Servomechanisms; Servosystems; Tracking; Trajectory;
Conference_Titel :
Information and Automation, 2009. ICIA '09. International Conference on
Conference_Location :
Zhuhai, Macau
Print_ISBN :
978-1-4244-3607-1
Electronic_ISBN :
978-1-4244-3608-8
DOI :
10.1109/ICINFA.2009.5205099
