| Title |
A Design of Adaptive Controller with Nonlinear Dynamic Friction Compensator for Precise Position Control of Linear Motor System |
| Authors |
이진우(Lee, Jin-Woo) ; 조현철(Cho, Hyun-Cheol) ; 이영진(Lee, Young-Jin) ; 이권순(Lee, Kwom-Soon) |
| Keywords |
Nonlinear Dynamic Friction ; Compensator ; Adaptive Control ; Linear Motor ; Parameter Estimator |
| Abstract |
In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method. |