Title :
Auto-tuning of feedforward friction compensation based on the gradient method
Author :
Altpeter, Friedhelm ; Grunenberg, Markus ; Myszkorowski, Piotr ; Longchamp, Roland
Author_Institution :
Charmilles Technol. S.A., Geneva, Switzerland
Abstract :
High performance position control of drives with friction is one of the requirements in machine-tool applications. A gradient method based algorithm is proposed for the auto-tuning of feedforward friction compensation. The method presented guarantees robust stability for all states of the system which is of great importance for industrial applications. Theoretical considerations are illustrated with experimental data collected from the drive of a vertical axis used for electro-discharge machining
Keywords :
adaptive control; compensation; drives; feedforward; force control; friction; gradient methods; machine tools; robust control; tuning; adaptive control; auto-tuning; drives; electro-discharge machining; feedforward; friction compensation; gradient method; machine-tool; position control; robust control; stability; Adaptive control; Data acquisition; Electrical equipment industry; Friction; Gradient methods; Machining; Mechatronics; Position control; Research and development; Robust stability;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878677
