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Precise Control of Ball-Screw Systems with Friction  

김종식 (부산대학교 기계공학부 및 기계기술연구소)
한성익 (순천제일대학 기계전기제어과)
공준희 (부산대학교 지능기계 대학원)
신대왕 (부산대학교 지능기계 대학원)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.11, no.3, 2002 , pp. 93-101 More about this Journal
Abstract
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.
Keywords
Ball-Screw System; LuGre Model; Sliding Mode Control; Sliding Mode Observer;
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