대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

축소 모델을 이용한 마찰력의 온라인 추정 및 보상 기법

On-line Friction Estimation and Compensation with a Reduced Model

  • 최재일 (아주대학교 제어계측공학과) ;
  • 양상식 (아주대학교 제어계측공학과)
  • Choi, Jae-Il (Dept. of Control & Instrumentation Eng. Ajou Univ.) ;
  • Yang, Sang-Sik (Dept. of Control & Instrumentation Eng. Ajou Univ.)
  • 발행 : 1995.11.18
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초록

In this paper, on-line adaptive friction compensation scheme for the precise position control is presented. 2 DOF system with compliance and friction is used for the plant model. In order to reduce the calculation time for the parameter estimation, 1 DOF estimation model is used. The computer simulation and experimental results show the validity of the supposed scheme.

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