한국공작기계학회논문집 (Transactions of the Korean Society of Machine Tool Engineers)

한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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마찰을 고려한 볼-스크류 시스템의 정밀 제어

Precise Control of Ball-Screw Systems with Friction

  • 김종식 (부산대학교 기계공학부 및 기계기술연구소) ;
  • 한성익 (순천제일대학 기계전기제어과) ;
  • 공준희 (부산대학교 지능기계 대학원) ;
  • 신대왕 (부산대학교 지능기계 대학원)
  • 발행 : 2002.06.01
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초록

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to identify the friction effect. The friction model which Canudas suggested so called, LuGre model is well expressed the friction effect as Streibeck in the law velocity. But it\`s model parameters were estimated continuously in operation for precise control. This paper suggests the sliding mode controller and observer for compensating the friction effect. Experimental results for a ball-screw system show that the proposed method has a good performance especially in the low velocity.

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참고문헌

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