Two adaptive friction compensations for DC servomotors

Author

Cong, Shuang

Author_Institution

Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China

fYear

1996

fDate

2-6 Dec 1996

Firstpage

113

Lastpage

117

Abstract

Two advanced control strategies of adaptive friction compensation for DC servomotor are presented, the first is used for the direct online friction compensation in the velocity control system, the second is making use of an adaptive inverse neural network controller in the position control system. Both are composed of an adaptive compensator for the nonlinear stiction and Coulomb friction in parallel with a PID regulator. Experiments show that much improvement of performance has attained respect to conventional controllers

Keywords

DC motors; adaptive control; compensation; friction; neurocontrollers; position control; servomotors; three-term control; velocity control; Coulomb friction; DC servomotors; PID regulator; adaptive friction compensations; adaptive inverse neural network controller; advanced control strategies; direct online friction compensation; nonlinear stiction; position control; velocity control; Adaptive control; Adaptive systems; Control systems; Friction; Neural networks; Position control; Programmable control; Regulators; Servomotors; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on

Conference_Location

Shanghai

Print_ISBN

0-7803-3104-4

Type

conf

DOI

10.1109/ICIT.1996.601552

Filename

601552