Title :
The analysis for the reason of limit cycle generated by friction in servo system
Author :
Gao, Huibin ; Song, Van ; Li, Miao
Author_Institution :
Changchun Inst. of Opt., Fine Mech. & Phys., Chinese Acad. of Sci., Changchun, China
Abstract :
In this paper, limit cycle which results from friction during low-velocity servo system has been discussed. First, the piecewise linearization method has been applied to change nonlinear stribeck model to linear model. Second, with analysis of equilibrium property, it is proved the existence of limit cycle and its certain region. The analysis reveals that it is because of stability of equilibrium repeatedly changing results in the limit cycle during low-velocity state. In addition, it also points that the key point to avoid this phenomenon is to keep robust stability of the close-loop system.
Keywords :
closed loop systems; friction; limit cycles; piecewise linear techniques; robust control; servomechanisms; close-loop system; friction; limit cycle; low-velocity servo system; nonlinear stribeck model; piecewise linearization method; robust stability; Analytical models; Friction; Iron; Irrigation; Tracking; Limit cycle; control theory; friction torque; relay character; robust stability;
Conference_Titel :
Computer, Mechatronics, Control and Electronic Engineering (CMCE), 2010 International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-7957-3
DOI :
10.1109/CMCE.2010.5610218
