대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

쿨롱 마찰력 추정과 보상을 통한 역진자 시스템의 제어 성능 개선

Estimation and Compensation of the Coulomb Friction in an Inverted Pendulum

  • 발행 : 2006.11.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

When the nonlinearities, such as friction and backlash, are not considered in the controller design, undesirable oscillations can occur in the steady-state response of a control system. This paper deals with a method to reduce oscillations that often appear in the steady-state response of a pendulum system, which is controlled by a state feedback controller based on the linearized system model. With an assumption that the oscillations shown in the steady-state are caused by the Coulomb friction, we improve the performance of stabilization and tracking by estimating and compensating for the Coulomb friction in the pendulum system. Experimental results show that the control performance can be improved sufficiently by the proposed method, when it is applied to an inverted cart pendulum which is a multi-variable unstable system. Furthermore, we could see that the Coulomb friction model used in the estimation of the friction is valid in applying the suggested method.

키워드

참고문헌

  1. Jean-Jacques E. Slotine and Weiping Li, Applied Nonlinear Control, Prentice-Hall Int, Inc. 1991
  2. Henrick Olsson and Karl Johan Astrom, 'Friction Generated Limit Cycles,' IEEE Trans. Control Systems Technology. vol. 9, No. 4, pp. 629-636, July. 2001 https://doi.org/10.1109/87.930974
  3. Seung-Jean Kim, Sung-Yeol Kim and In-Joong Ha, 'An Efficient Identification Method for Friction in Single-DOF Motion Control Systems,' IEEE Trans. Control Systems Technology. vol. 12, No. 4, pp. 555-563, July 2004 https://doi.org/10.1109/TCST.2004.825145
  4. Hongliu Du and Satish S. Nair, 'Modeling and Compensation of Low-Velocity Friction with Bounds,' IEEE Trans. Control Systems Technology. vol. 7, No. 1, pp. 110-121, Jan 1999 https://doi.org/10.1109/87.736763
  5. Yaolong Tan, Jie Chang and Hualin Tan, 'Adaptive Backstepping Control and Friction Compensation for AC Servo With Inertia and Load Uncertainties,' IEEE Trans. Industrial Electronics. vol. 50, No. 5, pp. 944-952, Oct 2003 https://doi.org/10.1109/TIE.2003.817574
  6. Craig T. Johnson, and Robert D. Lorenz, 'Experimental Identification of Friction and Its Compensation in Precise, Position Controlled Mechanisms,' IEEE Trans. Industry application, vol. 28, No. 6, pp. 1392-1398, Nov/Dec 1992 https://doi.org/10.1109/28.175293
  7. Rafael Kelly, Jesus Llamas, and Ricardo Campa, 'A Measurement Procedure for Viscous and Coulomb Friction,' IEEE Trans. Instrumentation and Measurement, vol. 49, No. 4, pp. 857-861, Aug. 2000 https://doi.org/10.1109/19.863938
  8. B. Armstrong-Htlouvry, P. Dupont, and C. Canudas de Wit, 'A survey of models, analysis tools and compensation methods for the control of machines with friction,' Automatica, vol. 30, No. 7, pp. 1083-1138, 1994 https://doi.org/10.1016/0005-1098(94)90209-7
  9. C. Canudas de Wit, H. Olsson, K. J. Astrom, and P. Lischinsky, 'A new model for control of systems with friction,' IEEE Trans. Automat. Contr., vol. 40, pp. 419-425, Mar. 1995 https://doi.org/10.1109/9.376053
  10. J. Amin, B. Friedland, and A. Harnoy, 'Implementation of a friction estimation and compensation technique,' IEEE Contr. Syst. Mag., vol. 17, pp. 71-76, 1997 https://doi.org/10.1109/37.608554
  11. Bernard Friedland and Young-Jin Park, 'On Adaptive Friction Compensation,' IEEE Trans. Automatic Control, vol. 37. No. 10, pp. 1609-1612, Oct. 1992 https://doi.org/10.1109/9.256395