计算机控制的机器与摩擦的精确运动

Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI:10.1109/MMVIP.1997.625236

S. Webb, Zheng Li, C. Cook

{"title":"计算机控制的机器与摩擦的精确运动","authors":"S. Webb, Zheng Li, C. Cook","doi":"10.1109/MMVIP.1997.625236","DOIUrl":null,"url":null,"abstract":"We study the problem of precise control of machines with static and Coulomb friction. An experimental X-Y testbed built for testing various control methods is described and initial experimental results are presented. A simple pole placement controller is designed for computer control of the X-Y testbed based on a generalised sampled-data hold. Robustness and stability of the controller are analysed. Simulation suggests that this controller is able to achieve precise position control even when parameters of both the dynamics of the machine and the characteristics of friction are unknown.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"38 151 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Computer control of machines with friction for precise motion\",\"authors\":\"S. Webb, Zheng Li, C. Cook\",\"doi\":\"10.1109/MMVIP.1997.625236\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We study the problem of precise control of machines with static and Coulomb friction. An experimental X-Y testbed built for testing various control methods is described and initial experimental results are presented. A simple pole placement controller is designed for computer control of the X-Y testbed based on a generalised sampled-data hold. Robustness and stability of the controller are analysed. Simulation suggests that this controller is able to achieve precise position control even when parameters of both the dynamics of the machine and the characteristics of friction are unknown.\",\"PeriodicalId\":261635,\"journal\":{\"name\":\"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice\",\"volume\":\"38 151 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-09-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MMVIP.1997.625236\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMVIP.1997.625236","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

研究了具有静摩擦和库仑摩擦的机械的精确控制问题。介绍了为测试各种控制方法而建立的实验X-Y试验台，并给出了初步实验结果。基于广义采样数据保持，设计了一种简单的极点放置控制器，用于X-Y试验台的计算机控制。分析了控制器的鲁棒性和稳定性。仿真结果表明，该控制器能够在机械动力学参数和摩擦特性参数未知的情况下实现精确的位置控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Computer control of machines with friction for precise motion

We study the problem of precise control of machines with static and Coulomb friction. An experimental X-Y testbed built for testing various control methods is described and initial experimental results are presented. A simple pole placement controller is designed for computer control of the X-Y testbed based on a generalised sampled-data hold. Robustness and stability of the controller are analysed. Simulation suggests that this controller is able to achieve precise position control even when parameters of both the dynamics of the machine and the characteristics of friction are unknown.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice

自引率

0.00%

发文量