• The Transactions of the Korean Institute of Electrical Engineers P
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• v.59 no.2
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• pp.163-172
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• 2010

A robust positioning control system has been studied using a friction parameter observer and a recurrent fuzzy neural network based on the sliding model. To estimate a nonlinear friction parameters of the LuGre friction model, a dual friction model-based observer is introduced. In addition, an approximating method for a system uncertainty has been developed using a recurrent fuzzy neural network technique to improve positioning performance. Experimental results have been presented to validate the performance of a proposed intelligent compensation scheme.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.199-204
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• 2006

In this paper, we propose an adaptive control algorithm to improve the position accuracy and reduce the nonlinear friction effects for linear motion servo system. Especially, the considered system includes not only the variation of the mass of the mover but also the friction change by the normal force. To adapt to these problems, we designed the controller with the mass estimator and the compensator by observing the variation of normal force. Finally, the numerical simulation results are presented in order to show the effectiveness of the proposed method to improve the position accuracy compared to other control methods.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.146-153
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• 2004

This paper presents a discrete analysis approach to investigate the performance of dual mass flywheel (DMF). In the discrete analysis, arcspring installed between the flywheels is modeled as N- discrete elements. Each element consists of mass, spring and nonlinear friction element. LuGre friction model is used to describe nonlinear friction characteristic. Based on the dynamic models of the DMF, clutch, engine, manual transmission and vehicle, a DMF performance simulator is developed using MATLAB Simulink. Simulation results of the engine speed, driveshaft torque and vehicle velocity are compared with test results. It is found that the discrete DMF model describes the vehicle behavior closely, especially during the clutch actuation period.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1640_1641
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• 2009

Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of permanent magnet synchronous motor(PMSM) servo drives system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a robust adaptive skidding mode controller is proposed to compensate the nonlinear effect of friction and force ripple. The controller scheme consists of a PD component and a robust adaptive sliding mode controller for estimating the unknown system parameter. Using Lyapunov stability theorem, asymptotic stability analysis and position tracking performance are guaranteed. Simulation results well verify the feasibility and the effectiveness of the proposed scheme for high0precision motion trajectory tracking.