Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Static Friction Compensation for Enhancing Motor Control Precision

모터 제어 정밀도 향상을 위한 정지 마찰력 보상

  • Ryoo, Jung Rae (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Doh, Tae-Yong (Department of Electronics and Control Engineering, Hanbat National University)
  • 류정래 (서울과학기술대학교 전기정보공학과) ;
  • 도태용 (한밭대학교 전자.제어공학과)
  • Received : 2013.10.22
  • Accepted : 2013.12.10
  • Published : 2014.02.01
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Abstract

DC motor is a representative electric motor commonly utilized in various motion control fields. However, DC motor-based motion control systems suffer from degradation of position precision due to nonlinear static friction. In order to enhance control precision, friction model-based compensators have been introduced in previous researches, where friction models are identified and counter inputs are added to control inputs for cancelling out the identified friction forces. In this paper, a static friction compensator is proposed without use of a friction model. The proposed compensation algorithm utilizes internal state manipulation to generate compensation pulses, and related parameters are easily tuned experimentally. The proposed friction compensator is applied to a DC motor-based motion control system, and results are presented in comparison with those without a friction compensator.

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References

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