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题名:
Acceleration feedback control for low velocity friction in servo control system
作者: Tao Tang; YongmEi Huanga; Chengyu Fua; Jiaguang Ma
出版日期: 2009
会议名称: Proceedings of SPIE
会议日期: 2009
通讯作者: Tao Tang
中文摘要: 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.
英文摘要: 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.
收录类别: Ei
语种: 英语
卷号: 7281
文章类型: 会议论文
内容类型: 会议论文
URI标识: http://ir.ioe.ac.cn/handle/181551/7371
Appears in Collections:光电工程总体研究室(一室)_会议论文

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作者单位: 中国科学院光电技术研究所

Recommended Citation:
Tao Tang,YongmEi Huanga,Chengyu Fua,et al. Acceleration feedback control for low velocity friction in servo control system[C]. 见:Proceedings of SPIE. 2009.
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