International Journal of Precision Engineering and Manufacturing

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Disturbance Observer- Based Sliding Mode Control for the Precise Mechanical System with the Bristle Friction Model

  • Han, Seong-Ik (Dept. of Mechatronics Engineering, Suncheon First College)
  • Published : 2003.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

Tracking control schemes on the precise mechanical system in presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the bristle friction model to compensate fer effects of friction. The conventional SMC method often shows poor tracking performance in high-precision position tracking application since it cannot completely compensate for the friction effect below a certain precision level. Thus to improve the precise position tracking performance, we propose the SMC method combined with the disturbance observer having tunable transient performance. Then this control scheme has the high precise tracking peformance as well as a good transient response when it is compared with the conventional SMC method and the similar types of observers, The experiment on the XY ball-screw drive system with the nonlinear dynamic friction confirms the feasibility of the proposed control scheme.

Keywords

References

  1. Canudas de Wit, C., Olsson, H. and Lischinsky, P., 'A New Model for Control of Systems with Friction,' IEEE Trans. A. C., Vol. 40, No. 3, pp. 419-425, 1995 https://doi.org/10.1109/9.376053
  2. Shon, K. O. and Kuc, T. Y., 'Friction Compensation of X-Y Robot Using a Leaming Control Technique,' J. of Contr. Auto. and Sys. Eng., (in Korean), Vol. 6, No. 3, pp. 248-255, 2000
  3. Ha, Q. P., Rye, D. C. and Durrant-Whyte, H. F., 'Variable Structure Systems Approach to Friction Estimation and Compensation,' Pro. of IEEE Inter. Confr. on Robot. & Auto., pp. 3543-3548, 2000
  4. Iwasaki, M., Shibata, T. and Matui, N., 'Disturbance-Observer-Based Nonlinear Friction Compensation in Table Drive System,' IEEE/ASME on Mechatr., Vol. 4, No. 1, pp. 3-8, 1999 https://doi.org/10.1109/3516.752078
  5. Vedagarbha, P., Dawson, D. M. and Feemster, M., 'Tracking Control of Mechanical Systems in the Presence of Nonlinear Dynamic Friction Effects,' IEEE Trans. on Contr. Sys. Tech., Vol. 7, No. 4, pp. 446-456, 1999 https://doi.org/10.1109/87.772160
  6. Hirschron, R. M. and Miller, G., 'Control of Nonlinear Systems with Friction,' IEEE Trans. on Contr. Sys. Tech., Vol. 7, No. 5, pp. 588-595, 1999 https://doi.org/10.1109/87.784422
  7. Friedland, B. and Park, Y. J., ' On Adaptive Friction Compensation,' IEEE Trans. on A.C., Vol. 37, No. 10, pp.1609-1612, 1992 https://doi.org/10.1109/9.256395
  8. Canudas de Wit, C. and Lischinskey, P., 'Adaptive Friction Compensation with Partially Known Friction Model,' Inter. J. of Adaptive Contr. and Sign. Pro., Vol. 11, pp. 65-80, 1997 https://doi.org/10.1002/(SICI)1099-1115(199702)11:1<65::AID-ACS395>3.0.CO;2-3
  9. Zhang, D. Q. and Panda, S. K.,'Chattering-Free and Fast Response Sliding Mode Controller,' IEE Proc. D Contr. Theory Appl., Vol. 146, No. 2, pp. 171-177, 1999 https://doi.org/10.1049/ip-cta:19990518
  10. Chern T. L. and Wu, Y. C., 'Design of Integral Variable Structure Controller and Applicaion to Electrohydraulic Velocity Servosystems,' IEE Proc. D Contr. Theory Appl., Vol. 139, No. 5, pp. 161-166, 1992 https://doi.org/10.1049/ip-d.1992.0022
  11. Soto, J. M. and Sbarbaro, D., 'Dynamically Synthesized Variable Structure Controller with Integral Modes,' Pro. of ACC, pp. 584-588, 1998
  12. Nicosia, S. and Tomei, P., 'Robot Control by Using Only Joint Position Measurements,' IEEE Trans. AC, Vol. 35, pp. 1058-1061, 1992