Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Robust Digital Nonlinear Friction Compensation-Application

견실한 비선형 마찰보상 이산제어 - 응용

  • Kang, M.S. ;
  • Song, W.G. ;
  • Kim, C.J.Lee, S.K.
  • 강민식 (국방과학연구소. 1-1-4) ;
  • 송원길 (국방과학연구소. 1-1-4) ;
  • 김창재이상국 (국방과학연구소. 1-1-4국방과학연구소. 1-1-4)
  • Published : 1997.05.01
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Abstract

To prove the stability and the effectiveness of the robust non-linear friction control suggested and proved analytically in the previous paper, the describing function analysis is introduced. The instability of the Southward's nonlinear friction compensation for a digital position control and the improvement of phase margin of the robust nonlinear friction compensation are verified qualitatively through the describing function analysis. Those controls are applied to a single-axis digital servo driving experimental setup which has inherent stick-slip friction and experimental results confirm the results obtained in and the effectiveness of the robust nonlinear friction compensation for a digital position control.

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