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http://dx.doi.org/10.14775/ksmpe.2020.19.06.001

Performance Enhancement of Motion Control Systems Through Friction Identification and Compensation  

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)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.19, no.6, 2020 , pp. 1-8 More about this Journal
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
Position Control; Motion Control System; Friction Modeling; Friction Compensation;
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