Stick-slip friction compensation for PID position control

Author

Cao, Liyu ; Schwartz, Howard M.

Author_Institution

Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, Ont., Canada

Volume

2

fYear

2000

fDate

2000

Firstpage

1078

Abstract

A simple compensation method for stick-slip limit cycle in PID controlled position systems is proposed in the paper. In order to analyze the property of the proposed compensation method, an iterative analysis approach is developed to determine and analyze the possible limit cycles in this kind of system with sufficient static friction. Based on the iterative analysis method, it is shown that the compensation method can reduce the amplitude of the limit cycles effectively. Computer simulation is used to validate the iterative analysis and the effectiveness of the proposed compensation strategy

Keywords

compensation; digital simulation; limit cycles; mechanical variables control; position control; servomechanisms; stiction; three-term control; PID position control; iterative analysis approach; static friction; stick-slip friction compensation; stick-slip limit cycle; Control systems; Force control; Friction; Iterative methods; Limit-cycles; Position control; Servomechanisms; Sliding mode control; Three-term control; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.876666

Filename

876666