Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Position Control of Sliding Mode Control Systems with Compensation of Estimated Coulomb friction

추정된 쿨롱 마찰을 보상한 슬라이딩 모드 제어 시스템의 위치제어

  • 김한메 (부산대학교 대학원 지능기계공학과) ;
  • 최정주 (부산대학교 대학원 지능기계공학과) ;
  • 이영진 (부산대학교 컴퓨터정보통신 연구소) ;
  • 김종식 (부산대학교 기계공학부)
  • Published : 2004.02.01
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Abstract

The control systems with friction cause the steady state error and slow response, because friction is a sensitive to the change of system condition and has highly nonlinear characteristics. To overcome these problems and do precise position control for a ball-screw system, we use Coulomb friction estimator and the sliding mode control(SMC) to compensate its negative effect. The applied SMC for tracking position has a characteristics of robust stability and reducing chattering, and is derived from the Lyapunov stability theorem and reaching condition. Compensating the estimated friction torque to the bounded disturbance term of the SMC's equivalent control input, it has a tracking performance better than the PID from the experimental results.

Keywords

References

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