The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Design of Adaptive Controller with Nonlinear Dynamic Friction Compensator for Precise Position Control of Linear Motor System

선형모터 정밀 위치제어를 위한 비선형 동적 마찰력 보상기를 갖는 적응 제어기 설계

  • 이진우 (동아대 공대 전기공학과) ;
  • 조현철 (동아대 공대 전기공학과) ;
  • 이영진 (서천항공기능대 계측제어과) ;
  • 이권순 (동아대 공대 전기공학과)
  • Published : 2007.05.01
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Abstract

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method.

Keywords

References

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