Friction compensation based on improved performance model reference adaptive control

Author

Shuxun, Li ; Yu, Yao ; Zicai, Wang

Author_Institution

Dept. of Control Eng., Harbin Inst. of Technol., China

fYear

1999

fDate

1999

Firstpage

872

Lastpage

877

Abstract

This paper presents a method of friction compensation based on improved performance model reference adaptive control when partial friction model parameters are considered to be known. First, against the effect of nonlinear friction to servo systems, a set of nominal friction model and system model parameters are obtained by suitable experiment design. Then, a friction compensation controller based on model reference adaptive control is synthesized when running conditions and variation of environment are considered. Finally, simulation studies are performed against the above method. The results indicate that this controller enhances the system performance

Keywords

DC motors; adaptive control; compensation; force control; friction; model reference adaptive control systems; servomotors; DC motor; friction compensation; model reference adaptive control; nonlinear friction; servomechanism; Adaptive control; Control engineering; Control system synthesis; Control systems; Friction; Paper technology; Programmable control; Servomechanisms; System performance; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-7803-5038-3

Type

conf

DOI

10.1109/AIM.1999.803287

Filename

803287