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Analysis and performance improvement of motor speed control system with nonlinear friction
Author(s) -
Iwasaki Makoto,
Kitoh Yoshiaki,
Matsui Nobuyuki
Publication year - 1996
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.4391170607
Subject(s) - control theory (sociology) , feed forward , nonlinear system , compensation (psychology) , servomechanism , performance improvement , observer (physics) , engineering , electronic speed control , control system , control engineering , controller (irrigation) , pid controller , control (management) , computer science , temperature control , artificial intelligence , psychology , agronomy , operations management , physics , electrical engineering , quantum mechanics , psychoanalysis , biology
Solid friction in machine elements is one of the dominant nonlinearities affecting the control accuracy of servo drive systems. Many schemes, including feedforward control, observer‐based control and repetitive learning control have been proposed to compensate for nonlinear friction. These schemes show superior performance compared to that of the conventional P‐ and/or PI‐controller; however, friction model errors and bandwidth restriction of the observer cause compensation errors, thus decreasing control accuracy. This paper presents a new control algorithm for performance improvement of a motor speed control system having nonlinear friction. By analyzing characteristics of conventional compensation control schemes during velocity reversal, the relation between control parameters and control accuracy is examined so as to explore problems with each scheme. Based on these analyses, a new feedforward control algorithm is proposed. The proposed algorithm is verified by analyses of control characteristics and experiments using a prototype. Experimental results show the superior performance improvement of the proposed algorithm.