库仑摩擦对工业指向跟踪系统的影响及补偿

Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting Pub Date : 1991-09-28 DOI:10.1109/IAS.1991.178044

G. Brandenburg, U. Schafer

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引用次数: 20

摘要

给出了具有库仑摩擦的弹性双质量系统的简单稳定性条件。根据这些条件，推导出了线性和非线性的稳定和补偿措施，并通过仿真和参数可调的电驱动装置进行了验证。描述了一种用于线性位置控制系统的参考模型多项式状态控制方法，该方法对参数变化具有较好的鲁棒性和较短的计算时间。这种控制方案可确保在最低速度和静止状态下无粘滑操作。一般有效的方法和结果适用于位置和力控制的机器人和机器人夹具，以及机床，天线，望远镜等。

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Influence and compensation of Coulomb friction in industrial pointing and tracking systems

Simple stability conditions are specified for an elastic two-mass system with Coulomb friction. From these conditions linear and nonlinear stabilizing and compensating measures are derived and verified by simulation and with an electrically driven setup with adjustable parameters. A reference model polynomial state control for the linear position controlled system is described, which is distinguished by good robustness against parameter variations and short computing time. This control scheme ensures a stick-slip-free operation down to lowest speeds and standstill. The generally valid methods and results apply to position and force controlled robots and robot grippers, and to machine tools, antennas, telescopes, etc.<>

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Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting

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