| Titre : | High performance adaptive control of mechanical servo system with LuGre friction model : identification and compensation (2012) |
| Auteurs : | Xingjian Wang, Auteur ; Shaoping Wang, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 134 N° 1, Janvier 2012) |
| Article en page(s) : | 08 p. |
| Note générale : | Dynamic systems |
| Langues : | Anglais |
| Index. décimale : | 553 (Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais) |
| Tags : | Adaptive control Compensation Control system synthesis Evolutionary computation Friction Hydraulic equipment Parameter estimation Servomechanisms Transfer functions |
| Résumé : | LuGre dynamic friction model has been widely used in servo system for friction compensation, but it increases the difficulty of controller design because its parameters are difficult to be identified and its internal state is immeasurable. This paper presents a parameter identification technique based on novel evolutionary algorithm (NEA) for LuGre friction model. In order to settle the practical digital implementation problem of LuGre model, this paper also proposes a modified dual-observer with discontinuous mapping and smooth transfer function. On the basis of the parameter identification results and the modified dual-observer, this paper designs an adaptive control algorithm with dynamic friction compensation for hydraulic servo system. The comparative experiments indicate that the proposed parameter identification technique and the adaptive control algorithm with modified dual-observer are effective with high tracking performance. |
| DEWEY : | 553 |
| ISSN : | 0022-0434 |
| En ligne : | http://www.asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000001011021000001&idtype=cvips&gifs=Yes&ref=no |
