IMPROVING THE SERVO PERFORMANCE OF MECHATRONIC SYSTEMS BY ACCELERATION FEEDBACK

摘要：

In this paper, we discuss the use of acceleration feedback control (AFC) to improve the tracking performance and robustness of controllers for mechatronic systems. It is shown that acceleration feedback loop can resist the effects of uncertainty such as the inertia changes and dynamic disturbances; furthermore, it can compensate the existing structural resonances. To mainly investigate the ability of the acceleration feedback in compensating nonlinear friction, comparative study only with position feedback but via sliding mode compensation are presented too. Superior performance against friction with AFC is confirmed by simulation. A recommended result is given at the end of this paper.

关键词： Acceleration feedback Servo control Nonlinear compensation

作者: KA LIU JIE MA

作者单位: Control and Simulation Center, Harbin Institute of Technology, Harbin 150001, China

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 2004-2009

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）