• DocumentCode
    1680795
  • Title

    H∞ position control with robust friction compensation for a two-mass system

  • Author

    Peter, K. ; Orlik, B.

  • Author_Institution
    Inst. of Electr. Drives, Bremen Univ., Germany
  • Volume
    3
  • fYear
    2004
  • Firstpage
    1481
  • Abstract
    Controlling a two-mass system is a common problem in industrial automation. The control difficulty caused by the compliant coupling is often increased by nonlinear friction. High static friction in combination with elastic coupling often leads to limited cycles and stick-slip effects. This work presents a design of a H∞ position control combined with a nonlinear friction compensation. The proposed control is robust against changes in the load momentum of inertia and robust against changes in the static friction. Measurements will complete the paper.
  • Keywords
    H∞ control; compensation; control system synthesis; industrial control; momentum; nonlinear control systems; position control; stiction; H∞ position control; compliant coupling; elastic coupling; industrial automation; inertia; load momentum; nonlinear friction; robust friction compensation; static friction; stick-slip effect; two-mass system; Automatic control; Control systems; Electrical equipment industry; Friction; Industrial control; Output feedback; Position control; Robust control; Shafts; Torque;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Industry Applications Conference, 2004. 39th IAS Annual Meeting. Conference Record of the 2004 IEEE
  • ISSN
    0197-2618
  • Print_ISBN
    0-7803-8486-5
  • Type

    conf

  • DOI
    10.1109/IAS.2004.1348667
  • Filename
    1348667
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1680795