書誌事項
- タイトル別名
-
- Disturbance Observer-Based Nonlinear Friction Compensation and Application to Table Drive System
- ガイラン オブザーバ ニヨル ヒセンケイ マサツ ホショウ ト テーブル クド
この論文をさがす
抄録
Nonlinear friction in machine elements is one of the inherent nonlinearities, which causes stick-slip motion in very low velocity control range and tracking errors in trajectory control due to the break-away friction and Stribeck effect. Since those greatly affect the control accuracy of servo drive systems, the appropriate modeling and/or compensation for friction is indispensable to achieve the higher performance motion.<br>The authors have already proposed the compensation scheme for nonlinear friction by using a remarkable disturbance observer which is designed on the basis of Coulomb friction characteristic. In this paper, the dynamic characteristic of nonlinear friction is examined by means of a friction model with elastic bristles between sliding surfaces. The analysis reveals that the nonlinear friction behaves in Coulomb friction under the dynamic motion at velocity reversal and, as a result, it is concluded clearly that the proposed disturbance observer is quite useful to estimate the instantaneous friction. Experimental results using a table drive system show the significant performance improvement of the proposed scheme in precise trajectory control.
収録刊行物
-
- 電気学会論文誌D(産業応用部門誌)
-
電気学会論文誌D(産業応用部門誌) 118 (1), 51-57, 1998
一般社団法人 電気学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390282679636107392
-
- NII論文ID
- 10002725989
-
- NII書誌ID
- AN10012320
-
- ISSN
- 13488163
- 09136339
-
- NDL書誌ID
- 4379952
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可