TY - GEN
T1 - Friction and disturbance compensation for speed control of servo control systems
AU - Wu, Jen Che
AU - Su, Ke Han
AU - Cheng, Ming-Yang
PY - 2010/12/1
Y1 - 2010/12/1
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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78751563333&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78751563333&partnerID=8YFLogxK
U2 - 10.1109/IECON.2010.5675379
DO - 10.1109/IECON.2010.5675379
M3 - Conference contribution
AN - SCOPUS:78751563333
SN - 9781424452262
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1890
EP - 1895
BT - Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
T2 - 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Y2 - 7 November 2010 through 10 November 2010
ER -