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Technical Brief

Faster Positioning of One Degree-of-Freedom Mechanical Systems With Friction and Actuator Saturation

[+] Author and Article Information
Chunhong Zheng

School of Electronic Engineering,
Xidian University,
Xi'an 710071, China
e-mail: chzheng@xidian.edu.cn

Yuxin Su

School of Electro-Mechanical Engineering,
Xidian University,
Xi'an 710071, China
e-mail: yxsu@mail.xidian.edu.cn

Paolo Mercorelli

Institute of Product and Process Innovation,
Leuphana University of Lüneburg,
Lüneburg D-21339, Germany
e-mail: mercorelli@uni.leuphana.de

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received November 9, 2017; final manuscript received February 11, 2019; published online March 13, 2019. Assoc. Editor: Douglas Bristow.

J. Dyn. Sys., Meas., Control 141(6), 064504 (Mar 13, 2019) (6 pages) Paper No: DS-17-1558; doi: 10.1115/1.4042883 History: Received November 09, 2017; Revised February 11, 2019

This paper concerns with faster positioning of one degree-of-freedom (1DOF) mechanical systems with friction and actuator saturation. A very simple but quite effective saturated relay proportional-derivative (PD) control is proposed. The proposed control is conceived within the framework of nonlinear PD methodology. It is accomplished by adding a relay position error for friction compensation to the saturated PD control law. For faster transient with bounded input, a saturated nonlinear function is introduced. Lyapunov's direct method is employed to prove global asymptotic positioning. The appealing advantages of the proposed control are that it is fairly easy to construct without involvement of any modeling parameter and has the ability to avoid the actuator saturation. Numerical example and experiments demonstrate the effectiveness and improved performance of the proposed approach.

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Figures

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Fig. 1

Diagram of the 1DOF mechanical systems with friction

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Fig. 2

Diagram of the SRPD control system

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Fig. 3

Nonlinear friction with velocity

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Fig. 4

Simulation result of the proposed control

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Fig. 5

Simulation result of the modified continuous control

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Fig. 6

Simulation result of the continuous saturated commonly used relay PD control

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Fig. 7

Hardware connection of the 1DOF mechanical system

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Fig. 8

Position error comparison

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Fig. 9

Requested control inputs

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