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Acceleration feedback control for low velocity friction in servo control system
Tao Tang; YongmEi Huanga; Chengyu Fua; Jiaguang Ma
Volume7281
2009
Language英语
Indexed ByEi
Subtype会议论文
AbstractThe control system stability is very important to be taken into account whether in fast tracking control systems or in slow tracking control systems. In particular, position tracking error becomes a great rush as long as the velocity is approximate to zero, or when the gimbals reverse into another direction. This is mainly because the friction torque causes the control system instability. Particularly in the only speed tracking system, it is very clear that the system oscillates back and forth until the velocity turns into a great value. By Lyapunov stability theory, the closed-loop system with only the velocity feedback proves to be unstable in low velocity tracking control. The acceleration is directly equivalent to torque, so a control algorithm base acceleration feedback control is proposed and introduced into the regular feedback system to eliminate the effects of low velocity friction, which includes velocity loop and tracking loop. The angular acceleration of the gimbals is computed from high precision accelerometers, while the velocity is filtered from the high-precision encoder. Experiments show that the proposed method with acceleration feedback loop eliminates the low velocity friction for stability and achieves high-precision tracking control performances.; The control system stability is very important to be taken into account whether in fast tracking control systems or in slow tracking control systems. In particular, position tracking error becomes a great rush as long as the velocity is approximate to zero, or when the gimbals reverse into another direction. This is mainly because the friction torque causes the control system instability. Particularly in the only speed tracking system, it is very clear that the system oscillates back and forth until the velocity turns into a great value. By Lyapunov stability theory, the closed-loop system with only the velocity feedback proves to be unstable in low velocity tracking control. The acceleration is directly equivalent to torque, so a control algorithm base acceleration feedback control is proposed and introduced into the regular feedback system to eliminate the effects of low velocity friction, which includes velocity loop and tracking loop. The angular acceleration of the gimbals is computed from high precision accelerometers, while the velocity is filtered from the high-precision encoder. Experiments show that the proposed method with acceleration feedback loop eliminates the low velocity friction for stability and achieves high-precision tracking control performances.
Conference NameProceedings of SPIE
Conference Date2009
Document Type会议论文
Identifierhttp://ir.ioe.ac.cn/handle/181551/7371
Collection光电工程总体研究室(一室)
Corresponding AuthorTao Tang
Affiliation中国科学院光电技术研究所
Recommended Citation
GB/T 7714
Tao Tang,YongmEi Huanga,Chengyu Fua,et al. Acceleration feedback control for low velocity friction in servo control system[C],2009.
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