Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on Pricision Positioning Control using a Fuzzy Friction Compensation

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  • Yun, S.H. (School of electrical and electronic engineering Ajou University) ;
  • Yang, S.S. (School of electrical and electronic engineering Ajou University)
  • 윤승환 (아주대학교 전기전자공학부) ;
  • 양상식 (아주대학교 전기전자공학부)
  • Published : 1996.07.22
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Abstract

For the precision positioning and tracking control, the proper friction compensation is essential. The friction causes steady state error. The friction compensation based on the velocity and the controlling input or the desired velocity provides limited performance if the compensation value is fixed. In this paper, a friction compensation scheme using a fuzzy logic is proposed. The friction compensation amount is adjusted depending on the velocity and controlling input. The proposed fuzzy friction compensator with a pole-assignment controller is implemented in a linear positioning system. To illustrate the effectiveness of this scheme, computer simulations and experiments are carried out for the cases of no friction compensation, the proposed fuzzy friction compensation, and another friction compensation scheme based on velocity and control input, and the results are compared with each other.

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