Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1995.11a
- /
- Pages.178-181
- /
- 1995
On-line Friction Estimation and Compensation with a Reduced Model
축소 모델을 이용한 마찰력의 온라인 추정 및 보상 기법
- Choi, Jae-Il (Dept. of Control & Instrumentation Eng. Ajou Univ.) ;
- Yang, Sang-Sik (Dept. of Control & Instrumentation Eng. Ajou Univ.)
- Published : 1995.11.18
Abstract
In this paper, on-line adaptive friction compensation scheme for the precise position control is presented. 2 DOF system with compliance and friction is used for the plant model. In order to reduce the calculation time for the parameter estimation, 1 DOF estimation model is used. The computer simulation and experimental results show the validity of the supposed scheme.
Keywords