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http://dx.doi.org/10.5302/J.ICROS.2014.13.1974

Static Friction Compensation for Enhancing Motor Control Precision  

Ryoo, Jung Rae (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
Doh, Tae-Yong (Department of Electronics and Control Engineering, Hanbat National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.2, 2014 , pp. 180-185 More about this Journal
Abstract
DC motor is a representative electric motor commonly utilized in various motion control fields. However, DC motor-based motion control systems suffer from degradation of position precision due to nonlinear static friction. In order to enhance control precision, friction model-based compensators have been introduced in previous researches, where friction models are identified and counter inputs are added to control inputs for cancelling out the identified friction forces. In this paper, a static friction compensator is proposed without use of a friction model. The proposed compensation algorithm utilizes internal state manipulation to generate compensation pulses, and related parameters are easily tuned experimentally. The proposed friction compensator is applied to a DC motor-based motion control system, and results are presented in comparison with those without a friction compensator.
Keywords
motion control; static friction; internal state manipulation; DC motor;
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Times Cited By KSCI : 4  (Citation Analysis)
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