Title :
Adaptive compensation for friction and force ripple in ship-borne gun servo system
Author :
Wenjing, Zhang ; Qinghai, Fang
Author_Institution :
Res. & Design Center, Autom. Res. & Design Inst. of Metall. Ind., Beijing
Abstract :
Dynamic friction and force ripple are the most important factors that affect the positioning accuracy of ship-borne gun servo system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a dual-observer is used to observe the unknown state of friction model, then a dynamic compensation approach employing adaptive law is designed to compensate the nonlinear effect of friction and force ripple in gun servo system. Experimental results well verify the feasibility and the effectiveness of the proposed scheme for high-precision motion trajectory tracking.
Keywords :
command and control systems; friction; motion compensation; observers; position control; servomechanisms; tracking; LuGre dynamic friction model; adaptive compensation; dual-observer; force ripple; friction ripple; motion trajectory tracking; positioning accuracy; ship-borne gun servo system; Adaptive control; Control systems; Design automation; Force control; Friction; Nonlinear dynamical systems; Programmable control; Servomechanisms; Tracking; Trajectory; Friction compensation; Gun servo system; adaptive control; force ripple;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4593470
