Auto-tuning of feedforward friction compensation based on the gradient method

Author

Altpeter, Friedhelm ; Grunenberg, Markus ; Myszkorowski, Piotr ; Longchamp, Roland

Author_Institution

Charmilles Technol. S.A., Geneva, Switzerland

Volume

4

fYear

2000

fDate

2000

Firstpage

2600

Abstract

High performance position control of drives with friction is one of the requirements in machine-tool applications. A gradient method based algorithm is proposed for the auto-tuning of feedforward friction compensation. The method presented guarantees robust stability for all states of the system which is of great importance for industrial applications. Theoretical considerations are illustrated with experimental data collected from the drive of a vertical axis used for electro-discharge machining

Keywords

adaptive control; compensation; drives; feedforward; force control; friction; gradient methods; machine tools; robust control; tuning; adaptive control; auto-tuning; drives; electro-discharge machining; feedforward; friction compensation; gradient method; machine-tool; position control; robust control; stability; Adaptive control; Data acquisition; Electrical equipment industry; Friction; Gradient methods; Machining; Mechatronics; Position control; Research and development; Robust stability;

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.2000.878677

Filename

878677