非線形摩擦を有する機械系の摩擦力推定に基づく速度制御(機械力学,計測,自動制御)

概要

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For precision control of mechanical systems moving at low velocity, stick-slip behavior should be considered. lt is known that the behavior is caused by negative viscosity of nonlinear friction. In this paper, we consider a control of a typical two mass-spring system with nonlinear friction. In the system, a driver and a load is connected by a spring, and the nonlinear friction acts the load. In order to compensate the nonlinear friction, the exact linearization method of nonlinear systems is applied to the two mass-spring system. Since the frictional properties are unknown, they are estimated by a disturbance observer and the recursive least squares method. Experimental results show the effectiveness of the proposed controller. ln the experiments, the friction is directly measured. The measurement results also show the validity of the proposed friction estimation method.
2003-06-25