대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2003년도 춘계학술대회
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- Pages.893-898
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- 2003
추정된 쿨롱 마찰을 보상한 볼-스크류 시스템의 위치제어
Position Control of Ball-Screw Systems with Compensation of Estimated Coulomb Friction
- 발행 : 2003.04.23
초록
Coulomb friction is an important factor for precise position tracking control systems. The control systems with friction causes the steady state error because of being sensitive to the change of system condition and highly nonlinear characteristics. To overcome these problems, we use an estimation scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb friction is used as a feed-forward compensator to improve the tracking performance of ball-screw systems. The tracking performance was improved by compensating the estimated friction torque in the feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem is applied for robust stability and reducing chattering. The experimental results show that the sliding mode controller with adaptive friction compensator has a good tracking performance compared with the friction uncompensated controller.