Title :
Observer-based nonlinear friction compensation in servo drive system
Author :
Iwasaki, Makoto ; Matsui, Nobuyuki
Author_Institution :
Dept. of Electr. & Comput. Eng., Nagoya Inst. of Technol., Japan
Abstract :
This paper presents compensation schemes for nonlinear friction in servo drive systems to improve the control performance. The proposed control scheme uses a new disturbance observer which is designed on the basis of Coulomb friction characteristics. With this observer based compensation, delay-free motion control can be achieved. Experimental results and analytical studies show the significant performance improvement of the proposed scheme
Keywords :
compensation; drives; friction; motion control; observers; position control; servomechanisms; velocity control; Coulomb friction characteristics; disturbance observer; observer-based nonlinear friction compensation; servo drive system; Control systems; Delay; Drives; Feedback control; Friction; Motion control; Nonlinear control systems; Performance analysis; Prototypes; Servomechanisms;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509430
