Title :
Dynamic friction compensation in servodrives
Author :
De Carli, A. ; Cong, S. ; Matacchioni, D.
Author_Institution :
Dept. of Comput. & Syst. Sci., Rome Univ., Italy
Abstract :
This paper deals with the speed control of a DC servomotor characterised by relevant nonlinear friction. A feedforward compensation of the nonlinear friction is proposed and implemented by using a dynamic model of friction. The error in the controlled system is eliminated by a suitable feedback controller. Experimental results have shown the robustness against variations of the nonlinear friction. The signal processing is performed by a DSP32C digital signal processor
Keywords :
DC motor drives; adaptive control; compensation; digital control; digital signal processing chips; feedback; feedforward; friction; machine control; motion control; servomotors; velocity control; DC servomotor; DSP32C digital signal processor; dynamic friction compensation; dynamic model; feedback controller; feedforward compensation; nonlinear friction; servodrives; speed control; Adaptive control; Compensation; DC motor drives; Digital control; Digital signal processors; Feedforward systems; Mechanical factors; Motion control; Output feedback; Servosystems; Velocity control;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381228
