A New Repetitive Adaptive Compensation Scheme in the DC Motor System

Author

Song Yang ; Baoku Su

Author_Institution

Dept. of Control Sci. & Eng., Harbin Inst. of Technol.

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

1140

Lastpage

1143

Abstract

A new repetitive adaptive compensation scheme is proposed for the dynamic friction and periodic ripple moment in a DC motor system. The paper´s contribution is to add repetitive control scheme into the adaptive-based compensation scheme. A LuGre dynamic friction model with non-uniformly variational parameters is used in the motor system. The compensation algorithm consists of a PD component, an adaptive component and a repetitive component. The adaptive component is to estimate and compensate for the unknown model parameters, moreover the induced repetitive controller is motivated by the attempt to improve the system motion trajectory tracking performance. The system stability and the uniformly ultimately position tracking performance are guaranteed by utilizing Lyapunov method. Finally, computer simulations verify the effectiveness of the proposed scheme for the high-precision servo system

Keywords

DC motors; Lyapunov methods; PD control; adaptive control; compensation; friction; machine control; DC motor system; LuGre dynamic friction model; Lyapunov method; PD component; nonuniformly variational parameters; periodic ripple moment; repetitive adaptive compensation; repetitive control; Adaptive control; DC motors; Friction; Lyapunov method; Motion control; Motion estimation; Programmable control; Stability; Tracking; Trajectory; DC motor system; LuGre model; repetitive control; tracking performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Engineering in Systems Applications, IMACS Multiconference on

Conference_Location

Beijing

Print_ISBN

7-302-13922-9

Electronic_ISBN

7-900718-14-1

Type

conf

DOI

10.1109/CESA.2006.313493

Filename

4105559