DocumentCode
335253
Title
PID control in the presence of static friction: exact and describing function analysis
Author
Armstrong-Hélouvry, Brian ; Amin, Bimal
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., Wisconsin Univ., Milwaukee, WI, USA
Volume
1
fYear
1994
fDate
29 June-1 July 1994
Firstpage
597
Abstract
PID position control in the presence of static friction is shown to lead to a frictional limit cycle for all stabilizing combinations of P, I and D parameters. An idealized Coulomb+static friction model, dimensional analysis and the study of all possible solutions to the differential equations are used to achieve analytic results for this nonlinear problem. Three theorems establishing the predictions of the describing function are also presented.
Keywords
differential equations; friction; limit cycles; position control; three-term control; PID position control; describing function analysis; differential equations; dimensional analysis; frictional limit cycle; idealized Coulomb+static friction model; nonlinear problem; Construction industry; Control systems; Differential equations; Friction; Limit-cycles; Position control; Servomechanisms; Sliding mode control; Three-term control; Transfer functions;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.751810
Filename
751810
Link To Document