Robust controller based on friction compensation and disturbance observer for a motion platform driven by a linear motor
Robust controller based on friction compensation and disturbance observer for a motion platform driven by a linear motor
复制标题
DOI：
10.1243/095965105x33680
复制
发表时间：
2006-02
期刊：
影响因子：
--
通讯作者：
Ying Wang;Z. Xiong;H. Ding
中科院分区：
文献类型：
--
作者：
Ying Wang;Z. Xiong;H. Ding
摘要非线性摩擦和外部干扰影响高速运动系统的定位精度，特别是直线电机驱动的系统。本文提出了一种控制器，它包括三个部分：比例加微分（PD）反馈控制器、摩擦补偿器和干扰观测器。摩擦补偿器基于LuGre模型并补偿非线性摩擦。干扰观测器用于消除摩擦补偿误差和其他外部干扰。实验结果表明，该控制器具有较高的定位精度和鲁棒性的干扰存在的高加速度运动超过5G。
Abstract Non-linear friction and external disturbances affect the positioning accuracy of high-speed motion systems, especially of those impelled by linear motors. This paper presents a controller, which includes three parts: a proportional-plus-derivative (PD) feedback controller, a friction compensator, and a disturbance observer. The friction compensator is based on the LuGre model and compensates for non-linear friction. The disturbance observer is used to eliminate the friction compensation error and other external disturbances. Experimental results show that the controller gives high positioning accuracy and robust performance in the presence of disturbances for high acceleration motion over 5G.