Title :
Precision single-axis motion control system with friction compensation
Author :
El-Roy, Amos ; Friedland, Bernard
Author_Institution :
Dept. of Electr. & Comput. Eng., Rutgers State Univ., New Brunswick, NJ, USA
Abstract :
A high-speed position control system that achieves an accuracy of microns is described. The system, based on a printer mechanism, uses a linear encoder with 1000 lines per inch as the sensor and an interpolation scheme to achieve higher accuracy. The control algorithm uses the friction compensation algorithm developed by Friedland et. al. to eliminate hangoff and stick-slip. The system was tested in the laboratory and found to have a 150 msec response time for a 1 inch step and an accuracy estimated as better than one micron
Keywords :
compensation; friction; interpolation; matrix printers; optical sensors; position control; printers; 150 ms; friction compensation; hangoff elimination; high-speed position control system; interpolation scheme; linear encoder; precision single-axis motion control system; printer mechanism; stick-slip elimination; Belts; Control systems; Friction; Glass; Interpolation; Motion control; Optical sensors; Position control; Printers; Sensor systems;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532213
