Gain scheduling-based friction compensation (CROSBI ID 474095)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Božić, Ante ; Deur, Joško ; Perić, Nedjeljko
engleski
Gain scheduling-based friction compensation
In this contribution it is experimentally proved that friction can be regarded as damping in case of low speed motion. According to that, friction can be seen like part of the process and not like disturbances. Utilizing the root-locus method for the purpose of analysis, it is established that friction effect (stick-slip, hunting) can be rejected at low speed by means of large speed controller integral gain, with the stabilizing damping effect of the friction. The integral gain of the speed controller is realized by gain-scheduling utilizing the look-up table for the whole speed range. Remarkably good servosystem behavior is experimentally verified on a laboratory model by utilization of the proposed control concept.
friction compensation; servodrive; gain scheduling
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Podaci o prilogu
1089-1096-x.
2000.
objavljeno
Podaci o matičnoj publikaciji
Conference Record of the 2000 IEEE Industry Applications Conference
Fred C. Trutt
Piscataway (NJ): Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
Anual Meeting and World Conference on Industrial Applications of Electrical Energy
predavanje
08.10.2000-12.10.2000
Rim, Italija