대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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- Pages.426-428
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- 1998
비선헝 마찰 보상기를 이용한 램프추종 서보제어기에 관한 연구
A study on the ramp tracking servo controller using nonlinear friction compensator
- Choi, Seung-Hwan (Dept. of Control and Instrumentation Engineering at Hanyang Univ.) ;
- Lim, Dong-Jin (Dept. of Control and Instrumentation Engineering at Hanyang Univ.)
- 발행 : 1998.11.28
초록
In this paper, a ramp tracking controller design method is proposed for the systems with nonlinear frictions. The objective is to design a controller which is capable of tracking a ramp reference input without steady state error. The controller is composed of a linear controller, integrators for error compensation, and a friction compensator. The compensator estimates the parameters of friction model. The friction parameters are estimated using two different method. Simulation and experimental results show that the proposed method is effective.
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