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국내 최대 기계 및 로봇 연구정보
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    국내학술지 제목 게시판 내용
    제목(국문) 모터 제어 정밀도 향상을 위한 정지 마찰력 보상
    제목(영문) Static Friction Compensation for Enhancing Motor Control Precision
    저자 NULL
    초록
    초록(영문)

    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.

    keyword motion control, static friction, internal state manipulation, DC motor
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 180-185
    발표년도 2014
    국문File 국문다운로드
    영문File
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