Controller Design for Flexible Systems with Friction: Pulse Ampliitude Control Authors Kim, J-J., & Singh T. Source ASME Journal for Dynamic Systems, Measurement and Control, 127(3), 336-344, 2005. Abstract
Accounting for friction is important when designing controllers for precision motion
control systems. However, the presence of the friction and the flexibility in the system
yields undesirable behaviors such as residual vibration and stick-slip oscillation near the
reference value. In the proposed development, a pulse amplitude modulated controller
with user-specified pulse width, is used to initiate the motion so as to permit the system to
coast to the desired final position after the final pulse, with zero residual vibrations. The
proposed technique is illustrated on the floating oscillator benchmark problem, where
friction acts on the first mass. Numerical simulation illustrates the effectiveness of the
proposed technique.
@article{Singh05_DSME, Author = {J-J. Kim, T. Singh}, Journal = {ASME Journal of Dynamic Systems, Measurement and Control}, Month = {September}, Pages = {336-344}, Title = {Controller Design for Flexible Systems with Friction: Pulse Amplitude Control}, Volume = {127}, Number = {3}, Year = {2005} } |