HOSIDF-based feedforward friction compensation in low-velocity motion control systems

被引：15

作者：

Ucun, Levent ^{[1
]}

Salasek, Jan ^{[2
]}

机构：

[1] Yildiz Tekn Univ, Dept Control & Automat Engn, Istanbul, Turkey

[2] Czech Tech Univ, Fac Elect Engn, CR-16635 Prague, Czech Republic

来源：

MECHATRONICS | 2014年 / 24卷 / 02期

关键词：

Feedforward; Friction compensation; Low-velocity motion control; Frequency domain techniques; INPUT DESCRIBING FUNCTIONS; FREQUENCY-RESPONSE FUNCTIONS; NONLINEAR-SYSTEMS; SPECTRAL-ANALYSIS; LINEAR-SYSTEMS; LURE SYSTEMS; MODEL; PERFORMANCE;

D O I：

10.1016/j.mechatronics.2013.12.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper describes an application of a recently introduced methodology for modeling of a class of nonlinear systems - Higher-Order Sinusoidal Input Describing Function technique (HOSIDF) - to a motion control platform for which a precisely controlled motion at low velocity is required. One of the key challenges for these systems is to compensate for the friction, which is particularly difficult to model at low velocities. The frequency-domain HOSIDF modeling framework is used to assist in designing a feedforward compensator. Experiments with a laboratory benchmark system (gimballed camera platform) prove the technique useful. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：118 / 127

页数：10

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