Title :
On velocity control using friction compensation
Author :
Moreno, Javier ; Kelly, Rafael ; Campa, Ricardo
Author_Institution :
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Abstract :
Velocity control of a direct-drive motor with high friction is considered. The friction at the motor shaft is assumed to be captured by a bristle deflection model. Two velocity observer-based controllers are introduced. Experiments show the superiority of the proposed schemes with respect to a velocity controller based on compensation of classical viscous plus Coulomb model of friction.
Keywords :
DC motors; compensation; friction; machine control; observers; velocity control; bristle deflection model; classical viscous plus Coulomb model; direct current motor system; direct-drive motor; friction compensation; high friction; observer-based controllers; velocity control; Algorithm design and analysis; DC motors; Friction; Machine tools; Predictive models; Servomechanisms; Servomotors; Shafts; Stability; Velocity control;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184474
