High performance regulator control for mechanical systems subjected to friction

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI:10.1109/CCA.2001.973864

R. Hensen, M. V. D. van de Molengraft, M. Steinbuch

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引用次数: 7

Abstract

Several control strategies are compared with respect to their performance for regulator tasks on mechanical systems that exhibit friction. For this purpose a classic PID-controller combined with mass and frictional feedforward is compared to (i) a PID-controller combined with a model-based friction compensation using the dynamic LuGre friction model and (ii) a gain-scheduled optimal PD-controller based on a polytopic linear model (PLM). The latter consists of a feedforward part and an optimal nonlinear feedback part. The controllers are compared to the classic PID-controller by means of experiments on a rotating arm subjected to friction. The performance for three third order point to point setpoints shows that the gain-scheduled optimal PD-controller outperforms the other controllers with respect to settling time and maximal error after setpoint. The tracking performance is comparable for the LuGre-based controller and the classic PID-controller where the tracking performance of the gain-scheduled PD-controller is limited.

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高性能调节控制的机械系统受到摩擦

几种控制策略比较了它们在机械系统上表现摩擦的调节器任务的性能。为此，将结合质量和摩擦前馈的经典pid控制器与(i)结合基于模型的摩擦补偿的pid控制器(使用动态LuGre摩擦模型)和(ii)基于多面体线性模型(PLM)的增益调度最优pd控制器进行比较。后者由前馈部分和最优非线性反馈部分组成。通过旋转臂的摩擦实验，将该控制器与经典pid控制器进行了比较。对三个三阶点对点设定值的性能分析表明，增益调度最优pd -控制器在稳定时间和设定值后的最大误差方面优于其他控制器。基于lugre的控制器的跟踪性能与经典pid控制器相当，其中增益调度pd控制器的跟踪性能受到限制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

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