DocumentCode
3256989
Title
On velocity control using friction compensation
Author
Moreno, Javier ; Kelly, Rafael ; Campa, Ricardo
Author_Institution
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Volume
1
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
95
Abstract
Velocity control of a direct-drive motor with high friction is considered. The friction at the motor shaft is assumed to be captured by a bristle deflection model. Two velocity observer-based controllers are introduced. Experiments show the superiority of the proposed schemes with respect to a velocity controller based on compensation of classical viscous plus Coulomb model of friction.
Keywords
DC motors; compensation; friction; machine control; observers; velocity control; bristle deflection model; classical viscous plus Coulomb model; direct current motor system; direct-drive motor; friction compensation; high friction; observer-based controllers; velocity control; Algorithm design and analysis; DC motors; Friction; Machine tools; Predictive models; Servomechanisms; Servomotors; Shafts; Stability; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184474
Filename
1184474
Link To Document