The Study on the Adaptive Friction Compensation for Motion Control System

• Main Authors: Chung, Yin-Chau, 張盈喬
• Other Authors: Shieh, Yaw-Shyh
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/04321795934372156831

碩士 === 中華大學 === 電機工程研究所 === 86 === 　　In the precise motion control systems, friction that is occurred between mechanical contact and is a nonlinear function of velocity, plays an important role in the accuracy of positionk/speed control. This thesis studies the friction compensation techniques based on the MRAC to reduce the effect of friction. For the experimentally obtained system model and friction model, there are two adaptive algorithms to be implemented. The first one is MRAC for the feedback linearized system, and the other is MRAC for nonlinear system. 　　Computer simulations and experiments have been used to verify the usefulness of the algorithms. From the result of experiments, the effect of friction is reduced significantly.