Title :
Friction compensation using dual observer for 3-axis turntable servo system
Author :
Liu Zhigang ; Wang Junzheng ; Zhao Jiangbo
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
Friction and load disturbance are important factors in high resolution control for 3-axis turntable servo system. LuGre dynamic friction model is adopted to describe the mathematic model of the pitch axis servo system with friction. Due to the dynamic LuGre model is built on three unknown parameters. Besides, system torque and inertia are also uncertain due to the motor torque ripple or disturbance. A dual sliding mode observer is adopted to estimate these parameters, and Lyapunov function is used to design the update laws. Based on these estimated parameters, adaptive control law is designed to compensate the unknown friction and load disturbance. Simulation suggest that the proposed method is global asymptotically convergent, which guarantee the position and speed signals track the desired trajectories asymptotically.
Keywords :
Lyapunov methods; adaptive control; convergence; friction; mathematical analysis; observers; parameter estimation; servomechanisms; variable structure systems; 3-axis turntable servo system; LuGre dynamic friction model; Lyapunov function; adaptive control; dual observer; dual sliding mode observer; friction compensation; global asymptotically convergent; high resolution control; load disturbance; mathematic model; motor torque ripple; parameter estimation; pitch axis servo system; Adaptive control; Control systems; Friction; Lyapunov method; Mathematical model; Mathematics; Parameter estimation; Servomechanisms; Servomotors; Torque; 3-axis turntable; LuGre model; adaptive control; dual sliding mode observer; friction compensation;
Conference_Titel :
Automation and Logistics, 2009. ICAL '09. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4244-4794-7
Electronic_ISBN :
978-1-4244-4795-4
DOI :
10.1109/ICAL.2009.5262842
