Zero Phase Error Tracking Control with Friction Compensation Based Motion Control System

摘要：

For motion system, the friction and servo lag are the factors of causing tracking error. Traditionally the friction is regarded as external disturbance and compensated by closed-loop control system. It often leads to quadrant glitches. In this paper, zero phase error tracking control (ZPETC) with friction compensation is presented where the friction model-LuGre model is established to estimate friction condition. Simulation and experimental results show that the controller can refine the tacking error compared with the ZPETC without friction compensation.

作者: Xin Wang Nengfeng Liu Zhiqiang Liu Maobin Wang

作者单位: Harbin Institute of Technology Shenzhen Graduate School,Shenzhen,518055 China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 1199-1204

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）