Dynamic Damping Control of High-Precision Servo System Based on Friction Model for Finite-Time Position Tracking With Deteriorating Friction

IF 4.2 2区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Transactions on Industry Applications Pub Date : 2024-09-11 DOI:10.1109/TIA.2024.3457953

Jialin Li;Zhen Chen;Hengzai Hu;Xiangdong Liu;Youguang Guo

{"title":"Dynamic Damping Control of High-Precision Servo System Based on Friction Model for Finite-Time Position Tracking With Deteriorating Friction","authors":"Jialin Li;Zhen Chen;Hengzai Hu;Xiangdong Liu;Youguang Guo","doi":"10.1109/TIA.2024.3457953","DOIUrl":null,"url":null,"abstract":"The conventional methods of damping control usually involve making qualitative adjustments to the damping coefficient, without offering a quantitative calculation method. In this paper, a dynamic damping control strategy for finite-time position tracking is proposed, and a method for quantitatively calculating the damping coefficient in real time is also presented. Firstly, the study investigates the impact of friction deterioration on the performance of finite-time position tracking and the characteristics of the friction model. Secondly, the dynamic damping coefficient is quantitatively calculated by tracking the rate of change of friction torque based on the parameters of the suitable modified LuGre friction model and the motor speed. Then the rate of change of the modified friction torque by the dynamic damping coefficient tends to be 0. Thirdly, the parameters of the modified LuGre friction model are obtained using an offline method. Finally, the comparative experiments have been conducted on the test platform. The experimental results indicate that compared to the conventional control strategies, the dynamic damping control strategy improves the dynamic response by 53% and tracking accuracy by 50%. Additionally, the results also demonstrates that the dynamic damping control possesses stronger parameter robustness when subjected to a 50% positive or negative bias in the model parameters.","PeriodicalId":13337,"journal":{"name":"IEEE Transactions on Industry Applications","volume":"60 6","pages":"8563-8574"},"PeriodicalIF":4.2000,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Industry Applications","FirstCategoryId":"5","ListUrlMain":"https://ieeexplore.ieee.org/document/10676313/","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}

引用次数: 0

Abstract

The conventional methods of damping control usually involve making qualitative adjustments to the damping coefficient, without offering a quantitative calculation method. In this paper, a dynamic damping control strategy for finite-time position tracking is proposed, and a method for quantitatively calculating the damping coefficient in real time is also presented. Firstly, the study investigates the impact of friction deterioration on the performance of finite-time position tracking and the characteristics of the friction model. Secondly, the dynamic damping coefficient is quantitatively calculated by tracking the rate of change of friction torque based on the parameters of the suitable modified LuGre friction model and the motor speed. Then the rate of change of the modified friction torque by the dynamic damping coefficient tends to be 0. Thirdly, the parameters of the modified LuGre friction model are obtained using an offline method. Finally, the comparative experiments have been conducted on the test platform. The experimental results indicate that compared to the conventional control strategies, the dynamic damping control strategy improves the dynamic response by 53% and tracking accuracy by 50%. Additionally, the results also demonstrates that the dynamic damping control possesses stronger parameter robustness when subjected to a 50% positive or negative bias in the model parameters.

查看原文本刊更多论文

基于摩擦力模型的高精度伺服系统动态阻尼控制，用于摩擦力恶化情况下的有限时间位置跟踪

传统的阻尼控制方法通常是对阻尼系数进行定性调整，而不提供定量计算方法。本文提出了一种用于有限时间位置跟踪的动态阻尼控制策略，并给出了一种实时定量计算阻尼系数的方法。首先，研究了摩擦恶化对有限时间位置跟踪性能的影响以及摩擦模型的特点。其次，根据合适的改进型 LuGre 摩擦模型参数和电机速度，通过跟踪摩擦扭矩的变化率定量计算动态阻尼系数。第三，利用离线方法获得改进型 LuGre 摩擦模型的参数。最后，在测试平台上进行了对比实验。实验结果表明，与传统控制策略相比，动态阻尼控制策略的动态响应提高了 53%，跟踪精度提高了 50%。此外，实验结果还表明，当模型参数出现 50%的正负偏差时，动态阻尼控制具有更强的参数鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

IEEE Transactions on Industry Applications 工程技术-工程：电子与电气

CiteScore

9.90

自引率

9.10%

发文量

747

审稿时长

3.3 months

期刊介绍： The scope of the IEEE Transactions on Industry Applications includes all scope items of the IEEE Industry Applications Society, that is, the advancement of the theory and practice of electrical and electronic engineering in the development, design, manufacture, and application of electrical systems, apparatus, devices, and controls to the processes and equipment of industry and commerce; the promotion of safe, reliable, and economic installations; industry leadership in energy conservation and environmental, health, and safety issues; the creation of voluntary engineering standards and recommended practices; and the professional development of its membership.