基于观测器的伺服驱动系统非线性摩擦补偿

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509430

M. Iwasaki, N. Matsui

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引用次数: 19

摘要

为提高伺服驱动系统的控制性能，提出了非线性摩擦补偿方案。该控制方案采用了基于库仑摩擦特性设计的扰动观测器。利用这种基于观测器的补偿，可以实现无延迟运动控制。实验结果和分析研究表明，该方案的性能得到了显著提高。

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Observer-based nonlinear friction compensation in servo drive system

This paper presents compensation schemes for nonlinear friction in servo drive systems to improve the control performance. The proposed control scheme uses a new disturbance observer which is designed on the basis of Coulomb friction characteristics. With this observer based compensation, delay-free motion control can be achieved. Experimental results and analytical studies show the significant performance improvement of the proposed scheme.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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