Performance enhancing adaptive friction compensation for uncertain systems

被引：16

作者：

Baril, CG ^{[1
]}

Gutman, PO ^{[1
]}

机构：

[1] TECHNION ISRAEL INST TECHNOL,FAC AGR ENGN,IL-32000 HAIFA,ISRAEL

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 1997年 / 5卷 / 05期

关键词：

adaptive control; mechanical factors; motion control; nonlinearities; position control; quantitative feedback theory; robust control; uncertain systems;

D O I：

10.1109/87.623033

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A regulator design technique for uncertain motor drive systems severely affected by nonlinear friction is presented in this paper. The regulator includes an internal adaptive loop to compensate for the nonlinear friction torque. The adaptive loop is based on a simple friction model, and is adapted with respect to the measure of performance. A new, simple search algorithm for the adaptation is proposed. The friction compensation allows the design of a lower gain robust linear controller for prescribed performance specifications. The closed loop is analyzed with respect to stability and performance. A quantitative comparison is made between robust control with and without friction compensation. Experimental results are presented.

引用

页码：466 / 479

页数：14

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