Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1996.11a
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- Pages.987-993
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- 1996
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- 2005-8446(pISSN)
Robust Digital Nonlinear Friction Compensation
견실한 비선형 마찰보상 이산제어
Abstract
This report suggests a new non-linear friction compensation for digital control systems. This control adopts a hysteric nonlinear clement which can introduce the phase lead of the control system to compensate the phase delay comes from the inherent time delay of a digital control. The Lyapunov direct method is used to prove the asymtotic stability of the suggested control, and the stability and the effectiveness are verified analytically and experimentally on a single axis servo driving system.
Keywords