Nonlinear Compensation Algorithm for Eliminating Low Speed Stick-slip in Servo System

摘要：

It is the more difficult to control when system is at low speed, the delay in speed measurement is a potential risk to controller stability, and friction as well. When controlling a super-low speed device, the stick-slip phenomenon appears. The precision and stability of speed are the key indexes. The mathematical model of PMSM and the system step response are analyzed, the Stribeck nonlinear friction model is chosen. The friction model incorporates Coulomb, viscous and Stribeck friction. Using nonlinear compensation algorithm for controller gains, one can switch the active controller parameters as a function of speed. After using the complex controller, a satisfying super-low speed control performance of the servo system can be gained. The experiment image definitely proves it.

关键词： PMSM Pl-controller Low-speed crawling Nonlinear Compensation

作者: Wengang Ji Li Lin Fengyan Dai

作者单位: Department of Mechanical and Electrical Engineering, China University of Petroleum-Beijing Beijing, Department of Mechanical Engineering, Beijing Institute of Petro-chemical Technology Beijing, China

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 1820-1823

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）