Friction and disturbance compensation for speed control of servo control systems

Jen Che Wu, Ke Han Su, Ming-Yang Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Generally, friction/disturbance compensation is an important issue in high-precision motion control applications. In particular, when the system under control undergoes low-speed or reversal motions, the friction force and external disturbances will degrade motion accuracy. Therefore, to achieve satisfactory motion performance, it is necessary to simultaneously compensate for the friction force and external disturbances. In this paper, an integrated motion control scheme consists of a PI-type feedback controller, a friction compensator based on the LuGre model, and a Virtual Plant Disturbance Compensator (VPDC) is developed. In particular, the VPDC is proposed to replace the PI-type Closed-loop Torque Observer (PICTO) since the latter may provide inaccurate information when used in disturbance compensation. Several experiments on load torque estimation and speed control are conducted in order to evaluate the performance of the proposed approach. Experimental results demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages1890-1895
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10-11-0710-11-10

Fingerprint

Speed control
Friction
Control systems
Motion control
Torque
Integrated control
Loads (forces)
Feedback
Controllers
Compensation and Redress
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Wu, J. C., Su, K. H., & Cheng, M-Y. (2010). Friction and disturbance compensation for speed control of servo control systems. In Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society (pp. 1890-1895). [5675379] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5675379
Wu, Jen Che ; Su, Ke Han ; Cheng, Ming-Yang. / Friction and disturbance compensation for speed control of servo control systems. Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society. 2010. pp. 1890-1895 (IECON Proceedings (Industrial Electronics Conference)).
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Wu, JC, Su, KH & Cheng, M-Y 2010, Friction and disturbance compensation for speed control of servo control systems. in Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society., 5675379, IECON Proceedings (Industrial Electronics Conference), pp. 1890-1895, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10-11-07. https://doi.org/10.1109/IECON.2010.5675379

Friction and disturbance compensation for speed control of servo control systems. / Wu, Jen Che; Su, Ke Han; Cheng, Ming-Yang.

Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society. 2010. p. 1890-1895 5675379 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - Generally, friction/disturbance compensation is an important issue in high-precision motion control applications. In particular, when the system under control undergoes low-speed or reversal motions, the friction force and external disturbances will degrade motion accuracy. Therefore, to achieve satisfactory motion performance, it is necessary to simultaneously compensate for the friction force and external disturbances. In this paper, an integrated motion control scheme consists of a PI-type feedback controller, a friction compensator based on the LuGre model, and a Virtual Plant Disturbance Compensator (VPDC) is developed. In particular, the VPDC is proposed to replace the PI-type Closed-loop Torque Observer (PICTO) since the latter may provide inaccurate information when used in disturbance compensation. Several experiments on load torque estimation and speed control are conducted in order to evaluate the performance of the proposed approach. Experimental results demonstrate the effectiveness of the proposed approach.

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Wu JC, Su KH, Cheng M-Y. Friction and disturbance compensation for speed control of servo control systems. In Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society. 2010. p. 1890-1895. 5675379. (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5675379