Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Performance Enhancement of Motion Control Systems Through Friction Identification and Compensation

마찰력 식별과 보상을 통한 운동제어 시스템의 성능 개선

  • Lee, Ho Seong (Department of Mechanical Convergence Engineering, Gyeongsang National University) ;
  • Jung, Sowon (Department of Mechanical Convergence Engineering, Gyeongsang National University) ;
  • Ryu, Seonghyun (Department of Mechanical Convergence Engineering, Gyeongsang National University)
  • 이호성 (경상대학교 기계융합공학과) ;
  • 정소원 (경상대학교 기계융합공학과) ;
  • 류성현 (경상대학교 기계융합공학과)
  • Received : 2020.04.09
  • Accepted : 2020.04.28
  • Published : 2020.06.30
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Abstract

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

Keywords

References

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