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A Nonlinear Friction Torque Compensation of Servo System with Double Speed Controller  

Lee Dong-Hee (OTIS-LG 서보 R&D팀)
Choi Cheol (OTIS-LG 서보 R&D팀)
Kim Cheul-U (부산대 전자전기통신공학부)
Publication Information
The Transactions of the Korean Institute of Power Electronics / v.9, no.6, 2004 , pp. 612-619 More about this Journal
Abstract
Servo motor systems with ball-screw and timing-belt are widely used in NC, robot, FA and industrial applications. However, the nonlinear friction torque and damping effect in machine elements reduce the control performance. Especially tracking errors in trajectory control and very low velocity control range are serious due to the break-away friction and Stribeck effects. In this paper, a new double speed controller is proposed for compensation of the nonlinear friction torque. The proposed double speed controller has outer speed controller and inner friction torque compensator. The proposed friction torque compensator compensates the nonlinear friction torque with actual speed and speed error information. Due to the actual information for friction torque compensator without parameters and mathematical model of motor, proposed compensator is very simple structure and the stability is very high. The proposed compensator is verified by simulation and experimental results.
Keywords
Servo system; Nonlinear friction compensation; Double speed controller;
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