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
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;
Conference_Titel :
Industry Applications Conference, 2004. 39th IAS Annual Meeting. Conference Record of the 2004 IEEE
Print_ISBN :
0-7803-8486-5
DOI :
10.1109/IAS.2004.1348667
