Performance enhancing adaptive friction compensation for uncertain systems

Author

Baril, Claudio G. ; Gutman, Per-Olof

Author_Institution

ABB Argentina, Buenos Aires, Argentina

Volume

5

Issue

5

fYear

1997

fDate

9/1/1997 12:00:00 AM

Firstpage

466

Lastpage

479

Abstract

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

Keywords

DC motor drives; adaptive control; asymptotic stability; closed loop systems; compensation; control nonlinearities; control system synthesis; friction; linear systems; machine control; motion control; robust control; time-domain synthesis; uncertain systems; internal adaptive loop; lower gain robust linear controller; nonlinear friction; performance enhancing adaptive friction compensation; quantitative comparison; regulator design technique; robust control; search algorithm; uncertain motor drive systems; Adaptive control; Friction; Performance gain; Programmable control; Regulators; Robust control; Robustness; Torque measurement; Transfer functions; Uncertain systems;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.623033

Filename

623033