Position Control of Servo Systems Using Feed-Forward Friction Compensation

피드포워드 마찰 보상을 이용한 서보 시스템의 위치 제어

  • 박민규 (부산대학교 대학원 기계공학부) ;
  • 김한메 (부산대학교 대학원 기계공학부) ;
  • 신종민 (부산대학교 대학원 기계공학부) ;
  • 김종식 (부산대학교 기계공학부 및 기계기술연구원)
  • Published : 2009.05.01


Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation.


Ball-Screw System;LuGre Friction Model;Friction Identification;Feed-Forward Compensation


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