Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on the Adaptive Friction Compensator Design of a Hydraulic Proportional Position Control System

유압 비례 위치제어시스템의 적응 마찰력 보상기 설계에 관한 연구

  • Published : 2003.12.01
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Abstract

This paper deals with a position control problem of a hydraulic proportional position control system using a nonlinear friction compensation control. As nonlinear friction, stiction and coulomb friction forces are considered and modeled as deadzone and external disturbance respectively. In order to compensate this nonlinearities, we designed the controller which is the adaptive friction compensator using discrete time Model Reference Adaptive Control method in this paper. Digital Signal Processing board is employed for data acquisition and manipulation. The experimental results show that response is slow and steady-state error cannot be compensated properly without friction compensation but this compensator is effective to obtain fast response and good steady-state response.

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References

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