한국항해항만학회:학술대회논문집 (Proceedings of the Korean Institute of Navigation and Port Research Conference)
- 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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- Pages.199-204
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- 2006
A Design of Adaptive Controller for Transportation System with Dynamic Friction
- Lee, Jin-Woo (Electrical Engineering, Dong-A University) ;
- Seo, Jeon-Hyun (Electrical Engineering, Dong-A University) ;
- Han, Seung-Hoon (Electrical Engineering, Dong-A University) ;
- Lee, Kwon-Soon (Electrical Engineering, Dong-A University)
- 발행 : 2006.10.18
초록
In this paper, we propose an adaptive control algorithm to improve the position accuracy and reduce the nonlinear friction effects for linear motion servo system. Especially, the considered system includes not only the variation of the mass of the mover but also the friction change by the normal force. To adapt to these problems, we designed the controller with the mass estimator and the compensator by observing the variation of normal force. Finally, the numerical simulation results are presented in order to show the effectiveness of the proposed method to improve the position accuracy compared to other control methods.
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