Complex control for friction compensation in DC motors(PDF)
[ISSN:1007-449X/CN:23-1 408/TM]
- Issue:
- 2008年05
- Page:
- 539-544
- Research Field:
- Publishing date:
Info
- Title:
- Complex control for friction compensation in DC motors
- Author(s):
- YU Zhi-wei; ZENG Ming; QIAO Da-peng
- Space Control and Inertial Technology Research Center, Harbin Institute of Technology
- Keywords:
- turntable; adaptive controller; neural network; complex control; friction
- PACS:
- TM359.6
- DOI:
- -
- Abstract:
- A complex compensation scheme is presented in this paper to compensate the dynamic friction as well as the load disturbance in the DC motor system of the gyro drift test turntable. A simplified secondorder linear model was used for the DC motor system while the dynamic friction model with nonuniform friction force variations characterized the friction force in the motor system. The compensation scheme consist of an adaptive component and CMAC neural network for estimating the unknown system parameters, identifying and compensating positiondependent periodic friction disturbances. The system stability and the asymptotic position tracking performance are validated by using the compensation scheme and computer simulations verify the effectiveness of the proposed scheme for highprecision motion trajectory tracking.
Last Update: 2008-12-12