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Performance Enhancement of Motion Control Systems Through Friction Identification and Compensation
Ho Seong Lee(이호성),Sowon Jung(정소원),Seonghyun Ryu(류성현) 한국기계가공학회 2020 한국기계가공학회지 Vol.19 No.6
This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.
High-Performance Tracking Controller Design for Rotary Motion Control System
Youngduk Kim(김영덕),Su Hyeon Park(박수현),Seonghyun Ryu(류성현),Chul Ki Song(송철기),Ho Seong Lee(이호성) 한국기계가공학회 2021 한국기계가공학회지 Vol.20 No.11
A robust tracking controller design was developed for a rotary motion control system. The friction force versus the angular velocity was measured and modeled as a combination of linear and nonlinear components. By adding a model-based friction compensator to a nominal proportional–integral–derivative controller, it was possible to build a simulated control system model that agreed well with the experimental results. A zero-phase error tracking controller was selected as the feedforward tracking controller and implemented based on the estimated closed-loop transfer function. To provide robustness against external disturbances and modeling uncertainties, a disturbance observer was added in the position feedback loop. The performance improvement of the overall tracking controller structure was verified through simulations and experiments.