Title :
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
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;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on
Conference_Location :
Toowoomba, Qld.
Print_ISBN :
0-8186-8025-3
DOI :
10.1109/MMVIP.1997.625236
