TY - GEN
T1 - Friction compensation using dual observer for 3-axis turntable servo system
AU - Liu, Zhigang
AU - Wang, Junzheng
AU - Zhao, Jiangbo
PY - 2009
Y1 - 2009
N2 - Friction and load disturbance are important factors in high resolution control for 3-axis turntable servo system. LuGre dynamic friction model is adopted to describe the mathematic model of the pitch axis servo system with friction. Due to the dynamic LuGre model is built on three unknown parameters. Besides, system torque and inertia are also uncertain due to the motor torque ripple or disturbance. A dual sliding mode observer is adopted to estimate these parameters, and Lyapunov function is used to design the update laws. Based on these estimated parameters, adaptive control law is designed to compensate the unknown friction and load disturbance. Simulation suggest that the proposed method is global asymptotically convergent, which guarantee the position and speed signals track the desired trajectories asymptotically.
AB - Friction and load disturbance are important factors in high resolution control for 3-axis turntable servo system. LuGre dynamic friction model is adopted to describe the mathematic model of the pitch axis servo system with friction. Due to the dynamic LuGre model is built on three unknown parameters. Besides, system torque and inertia are also uncertain due to the motor torque ripple or disturbance. A dual sliding mode observer is adopted to estimate these parameters, and Lyapunov function is used to design the update laws. Based on these estimated parameters, adaptive control law is designed to compensate the unknown friction and load disturbance. Simulation suggest that the proposed method is global asymptotically convergent, which guarantee the position and speed signals track the desired trajectories asymptotically.
KW - 3-axis turntable
KW - Adaptive control
KW - Dual sliding mode observer
KW - Friction compensation
KW - LuGre model
UR - http://www.scopus.com/inward/record.url?scp=70450188491&partnerID=8YFLogxK
U2 - 10.1109/ICAL.2009.5262842
DO - 10.1109/ICAL.2009.5262842
M3 - Conference contribution
AN - SCOPUS:70450188491
SN - 9781424447954
T3 - Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
SP - 658
EP - 663
BT - Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
T2 - 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
Y2 - 5 August 2009 through 7 August 2009
ER -