Modified Time Delay Control for Servo with Friction

마찰이 있는 서보의 변형된 시지연제어

A new algorithm based upon TDC (Time Delay Control) is proposed to improve the robustness of TDC performance in systems where the stick-slip friction is strong. Experiments were performed at the different levels of friction. The reponses of the TDC and the modified TDC were compared each other, and against those of a PID controller with an anti-windup. The results show that the TDC and the modified TDC equally perform better than the PID, and that the modified TDC performs consistently well even with variations in the friction level while the TDC does not.