피드포워드 마찰 보상을 이용한 서보 시스템의 위치 제어

다국어 초록 (Multilingual Abstract)

Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 볼-스크류 시스템 모델링
• 3. 마찰 모델의 검증
• 4. 실험 및 고찰
• 5. 결론
• 참고문헌

참고문헌 (Reference)

1 김민석, "한계사이클을 이용한 마찰력의 규명 및 보상" 대한기계학회 29 (29): 938-946, 2005

2 Ro, P. I., "Robust Friction Compensation for Submicrometer Positioning and Tracking for a Ball-Screw-Driven Slide System" 24 : 160-173, 2000

3 Zhou, J., "Real-time Nonlinear Adaptive Backstepping Speed Control for a PM Synchronous motor" 13 (13): 1259-1269, 2005

4 Popovic, M. R., "Friction Modeling and Control, Digital Xerographic Process" 1996

5 Tan, Y., "Adaptive Nonlinear Friction Compensation with Parametric Uncertainties" 4 : 2511-2515, 1999

6 Canudas de Wit, C., "Adaptive Friction Compensation with Partially Known Dynamic Friction Mode" 11 : 65-80, 1997

7 Armstrong, H. B., "A Survey of Models" 1994

8 Canudas de Wit, C., "A New Model for Control of Systems with Friction" 40 (40): 419-425, 1995