Computer control of machines with friction for precise motion

Author

Webb, Simon ; Li, Zheng ; Cook, Chris

Author_Institution

Dept. of Electr. & Comput. Eng., Wollongong Univ., NSW, Australia

fYear

1997

fDate

23-25 Sep 1997

Firstpage

32

Lastpage

37

Abstract

We study the problem of precise control of machines with static and Coulomb friction. An experimental X-Y testbed built for testing various control methods is described and initial experimental results are presented. A simple pole placement controller is designed for computer control of the X-Y testbed based on a generalised sampled-data hold. Robustness and stability of the controller are analysed. Simulation suggests that this controller is able to achieve precise position control even when parameters of both the dynamics of the machine and the characteristics of friction are unknown

Keywords

automatic test equipment; computerised control; control system analysis; control system synthesis; friction; machine tools; motion control; pole assignment; position control; robust control; Coulomb friction; X-Y testbed; computer control; generalised sampled-data hold; pole placement controller; precise motion; robustness; stability; static friction; Control systems; Error correction; Friction; Machine tools; Motion control; Pressure control; Servomechanisms; Sliding mode control; Testing; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on

Conference_Location

Toowoomba, Qld.

Print_ISBN

0-8186-8025-3

Type

conf

DOI

10.1109/MMVIP.1997.625236

Filename

625236