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

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

658

Lastpage

663

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICAL.2009.5262842

Filename

5262842