论文信息 - An Adaptive Sliding Mode Compensation for Friction and Force Ripple in PMSM AC Servo System

An Adaptive Sliding Mode Compensation for Friction and Force Ripple in PMSM AC Servo System

Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of permanent magnet synchronous motor servo system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, an adaptive sliding mode controller is proposed to compensate the nonlinear effect of friction and force ripple. The compensation scheme consists of a PD component and an adaptive sliding mode component for estimating the unknown system parameters. Using Lyapunov stability theorem, asymptotic stability analysis and position tracking performance are guaranteed. Experimental results well verify the feasibility and the effectiveness of the proposed scheme for high-precision motion trajectory tracking.

Zhang Wenjing | Z. Wenjing

[1] De-Peng Liu,et al. Research on parameter identification of friction model for servo systems based on genetic algorithms , 2005, 2005 International Conference on Machine Learning and Cybernetics.

[2] Hai-Bin Duan,et al. Parameter Identification of Lugre Friction Model for Flight Simulation Servo System Based on Ant Colony Algorithm , 2004 .

[3] Hu Hong. Research on the Parameter Identification of Friction Model for Servo Systems Based on Genetic Algorithms , 2003 .

[4] Tsu-Chin Tsao,et al. Control of Linear Motors for Machine Tool Feed Drives: Design and Implementation of H∞ Optimal Feedback Control , 1996 .

[5] Jan Swevers,et al. Accurate tracking control of linear synchronous motor machine tool axes , 1996 .

[6] Carlos Canudas de Wit,et al. A survey of models, analysis tools and compensation methods for the control of machines with friction , 1994, Autom..

[7] Carlos Canudas de Wit,et al. A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[8] Jong-Hwan Kim,et al. Robust adaptive stick-slip friction compensation , 1995, IEEE Trans. Ind. Electron..

[9] Jean-Jacques E. Slotine,et al. Adaptive sliding controller synthesis for non-linear systems , 1986 .

[10] Ioannis Kanellakopoulos,et al. Adaptive nonlinear friction compensation with parametric uncertainties , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).