Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

A study on the ramp tracking servo controller using nonlinear friction compensator

비선헝 마찰 보상기를 이용한 램프추종 서보제어기에 관한 연구

  • Choi, Seung-Hwan (Dept. of Control and Instrumentation Engineering at Hanyang Univ.) ;
  • Lim, Dong-Jin (Dept. of Control and Instrumentation Engineering at Hanyang Univ.)
  • 최승환 (한양대하교 제어계측공학과) ;
  • 임동진 (한양대하교 제어계측공학과)
  • Published : 1998.11.28
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a ramp tracking controller design method is proposed for the systems with nonlinear frictions. The objective is to design a controller which is capable of tracking a ramp reference input without steady state error. The controller is composed of a linear controller, integrators for error compensation, and a friction compensator. The compensator estimates the parameters of friction model. The friction parameters are estimated using two different method. Simulation and experimental results show that the proposed method is effective.

Keywords