대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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Friction Compensation Scheme using a Fuzzy Logic

  • 조용대 (아주대학교 제어계측공학과) ;
  • 양상식 (아주대학교 제어계측공학과)
  • Cho, Y.D. (Department of Control and Instrumentation Engineering AJOU University) ;
  • Yang, S.S. (Department of Control and Instrumentation Engineering AJOU University)
  • 발행 : 1995.07.20
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초록

In this paper, a friction compensation scheme using a fuzzy logic is presented. For the precision positioning and tracking control, the proper friction compensation is essential. Friction compensation schemes based on velocity and controlling input or desired velocity, have limitations because the compensation values are fixed. In this paper, a fuzzy friction compensation scheme adjusts the compensation value depending on the velocity and the position error. The proposed fuzzy friction compensator is implemented in a linear positioning system. The performance is illustrated by simulations and experiments.

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