Friction compensation design based on state observer and adaptive law for high-accuracy positioning system

被引：1
|
作者：
WANG Ying
机构：
来源：
Progress in Natural Science | 2006年 / 02期
基金：
中国国家自然科学基金;
关键词：
friction compensation; state observer; adaptive law; linear motor; motion control;
D O I：
暂无
中图分类号：
TH117.1 [摩擦与磨损];
学科分类号：
080203 ;
摘要：
Friction is one of the main factors that affect the positioning accuracy of motion system. Friction compensation based on friction model is usually adopted to eliminate the nonlinear effect of friction. This paper presents a proportional-plus-derivative (PD) feedback controller with a friction compensator based on LuGre friction model. We also design a state observer to observe the unknown state of LuGre friction model, and adopt a parameter adaptive law and off-line approximation to estimate the parameters of LuGre friction model. Comparative experiments are carried out among our proposed controller, PD controller with friction compensation based on classical friction model, and PD controller without friction compensation. Experimental results demonstrate that our proposed controller can achieve better performance, especially higher positioning accuracy.
引用
收藏
页码：147 / 152
页数：6
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