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 language | English |
|---|---|
| Title of host publication | Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society |
| Pages | 1890-1895 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 Dec 1 |
| Event | 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States Duration: 2010 Nov 7 → 2010 Nov 10 |
Publication series
| Name | IECON Proceedings (Industrial Electronics Conference) |
|---|
Other
| Other | 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 |
|---|---|
| Country | United States |
| City | Glendale, AZ |
| Period | 10-11-07 → 10-11-10 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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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 proceeding › Conference contribution
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
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
ER -