Fast Pointing Control for Systems With Stick-Slip Friction

[+] Author and Article Information
Ruh-Hua Wu

Department of Mechanical Engineering, National Central University, Taiwan, Republic of China   e-mail: wrh7215@ms7.hinet.net

Pi-Cheng Tung

Department of Mechanical Engineering, National Central University, Taiwan, Republic of Chinae-mail: t331166@ncu.edu.tw

J. Dyn. Sys., Meas., Control 126(3), 614-626 (Dec 03, 2004) (13 pages) doi:10.1115/1.1789977 History: Received December 10, 2003; Online December 03, 2004
Copyright © 2004 by ASME
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The discontinuous Coulomb friction model, with the viscous part not shown
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The experimental system. (a) Schematic diagram. (b) Block diagram.
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Identification of the experimental system. (a) Test in the forward direction. (b) Test in the backward direction.
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Portions of the velocity profile shown in Fig. 3. (a) Test in the forward direction. (b) Test in the backward direction.
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Block diagram with the outline of the PPR controller
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PPR control schemes in the ẏ−e phase plane
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Flowchart of the PPR controller
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A tracking test using a PI controller, Kp=1 and Ki=5, to determine Vs
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Variation of the responses to identical pulses
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Variations of the responses generated by pulses of different widths
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Variations of the responses generated by pulses of different heights
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Measurement of presliding displacement. (a) Forward direction. (b) Backward direction.
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The simplified model of the PID-controlled experimental system in the sticking mode
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Responses to various input steps
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Control efforts of the step responses shown in Fig. 14
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Robust test of the PPR controller. (a) Positive command. (b) Negative command.



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