DocumentCode
1706838
Title
Dynamic friction compensation in velocity control of servo-actuators
Author
Martínez-Rosas, Juan C. ; Alvarez-Icaza, Luis ; Noriega-Pineda, Daniel
Author_Institution
Inst. de Ing., Univ. Nac. Autonoma de Mexico, Mexico City, Mexico
fYear
2009
Firstpage
54
Lastpage
59
Abstract
This paper deals with the velocity control and compensation of dynamic friction in DC servo actuators with harmonic drives, in whose response nonlinear friction is very relevant. A control law is proposed that considers the use of observers and a novel second order dynamic friction model, that works in parallel with an adaptive law that explicitly includes friction compensation. Velocity and position tracking performance has been verified through experimental testing.
Keywords
actuators; friction; position control; servomechanisms; velocity control; DC servo actuators; dynamic friction compensation; harmonic drives; position tracking; velocity control; Adaptive control; Control systems; DC motors; Friction; Gears; Nonlinear control systems; Pi control; Proportional control; Servomechanisms; Velocity control; Coulomb friction; Dynamic friction models; LuGre friction model; Stribeck effect;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location
St. Petersburg
Print_ISBN
978-1-4244-4601-8
Electronic_ISBN
978-1-4244-4602-5
Type
conf
DOI
10.1109/CCA.2009.5281001
Filename
5281001
Link To Document