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TECHNICAL PAPERS

Controller Design for Flexible Systems With Friction: Pulse Amplitude Control

[+] Author and Article Information
Jae-Jun Kim

Naval Postgraduate School,  Department of Mechanical and Astronautical Engineering, Monterey, CA 93943jkil@nps.edu

Tarunraj Singh

Department of Mechanical & Aerospace Engineering,  State University of New York at Buffalo, Buffalo, NY 14260tsingh@eng.buffalo.edu

J. Dyn. Sys., Meas., Control 127(3), 336-344 (Sep 15, 2004) (9 pages) doi:10.1115/1.1988341 History: Received July 21, 2003; Revised September 15, 2004

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.

Copyright © 2005 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Floating oscillator under friction

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Figure 3

Three pulse control input (d=0.1)

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Figure 4

Response of the system (d=0.1m)

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Figure 5

Response of the system, decoupled states (d=0.1m)

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Pulse amplitudes versus displacement

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Pulse amplitudes versus natural frequency

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Steady-state error with friction and spring constant variation

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Figure 9

Total residual energy with friction and spring constant variation

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Figure 10

Input profile with stiction

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Figure 11

Algorithm for the controller design under stiction

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Figure 12

Input profile with spring force compensation

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Figure 13

Control input (d=0.01m)

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Figure 14

Control input with spring force compensation (d=0.01m)

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Figure 15

System response without spring force compensation (d=0.01m)

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Figure 16

System response with spring force compensation (d=0.01m)

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Figure 17

Control input (d=0.001m)

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Figure 18

Response of the system (d=0.001m)

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Figure 19

Response of the system, decoupled states (d=0.001m)

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