Title :
Stick-slip friction compensation for PID position control
Author :
Cao, Liyu ; Schwartz, Howard M.
Author_Institution :
Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, Ont., Canada
Abstract :
A simple compensation method for stick-slip limit cycle in PID controlled position systems is proposed in the paper. In order to analyze the property of the proposed compensation method, an iterative analysis approach is developed to determine and analyze the possible limit cycles in this kind of system with sufficient static friction. Based on the iterative analysis method, it is shown that the compensation method can reduce the amplitude of the limit cycles effectively. Computer simulation is used to validate the iterative analysis and the effectiveness of the proposed compensation strategy
Keywords :
compensation; digital simulation; limit cycles; mechanical variables control; position control; servomechanisms; stiction; three-term control; PID position control; iterative analysis approach; static friction; stick-slip friction compensation; stick-slip limit cycle; Control systems; Force control; Friction; Iterative methods; Limit-cycles; Position control; Servomechanisms; Sliding mode control; Three-term control; Weight control;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.876666
