Adaptive Velocity Control of DC Motors With Coulomb Friction Identification

[+] Author and Article Information
Y. P. Yang, J. S. Chu

Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, R.O.C.

J. Dyn. Sys., Meas., Control 115(1), 95-102 (Mar 01, 1993) (8 pages) doi:10.1115/1.2897413 History: Received September 19, 1990; Revised April 01, 1992; Online March 17, 2008


A new dc motor control technique for the Coulomb friction compensation is proposed. The technique uses an adaptive velocity control scheme for a dc servo motor with on-line estimated parameters, including a Coulomb friction parameter, which is a combination of the Coulomb friction torque, motor time constant, moment of inertia of the motor, and sampling time of the discrete-time motor model. The estimation model used in the adaptive control process is validated off-line by a pseudo-linear regression algorithm for system parameters in a linear ARMAX model, and by adaptive Kalman filters for the Coulomb friction parameter described as pseudo-random binary sequences. The adaptive controller consists of a friction compensator and a PID controller, whose gains are adjusted adaptively in terms of estimated parameters. The proposed adaptive control law is implemented and tested on a microprocessor-based dc servo motor, and is applicable to many dc-motor-driven precision servo mechanisms. Experimental results are shown to be superior to those of conventional PID controls in terms of parameter fluctuation.

Copyright © 1993 by The American Society of Mechanical Engineers
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