Application in prestiction friction compensation for angular velocity loop of inertially stabilized platforms

Zhang, Zhiyong; Li, Zhiqiang; Zhou, Qing; Zhang, Lianchao; Ding, Fan

doi:10.1016/j.cja.2014.04.026

Cited by 9 publications

(7 citation statements)

References 21 publications

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“…After including an additional rotational-friction module in the existing MATLAB based Simulink model (see Fig.9 (b)), the motor's rotational-friction current IF (A), rotational-friction torque (N. m) and angular velocity (rad/sec) are also increased with time (see Fig.10 (b)). The mathematical model of rotational friction ( ) is expressed as [31,34] = (( − )…”

Section: = + +mentioning

confidence: 99%

Energy Efficiency of Force-Sensor-Controlled Humanoid-Robot Walking on Indoor Surfaces

et al. 2020

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Section: = + +mentioning

confidence: 99%

Energy Efficiency of Force-Sensor-Controlled Humanoid-Robot Walking on Indoor Surfaces

et al. 2020

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“…Active disturbance rejection control technique is commonly used to compensate for disturbance because of its strong robustness against various disturbances, X. Y. Zhou and et al combine the feedforward control with friction observer to compensate for friction disturbance, and the friction is eliminated in large scale because of the precise estimation. Besides, they designed a backstepping integral adaptive compensator to compensate for disturbance [8,9]. While the shortcoming is that the parameters of friction are estimated offline.…”

Section: Introductionmentioning

confidence: 99%

Guaranteeing Prescribed Performance Control for Gyrostabilized Platform with Unknown Control Direction Preceded by Hysteresis

Wang

Lei

et al. 2019

International Journal of Aerospace Engineering

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This paper investigates the problem of precise and quick tracking for gyrostabilized platform (GSP) with unknown hysteresis, unknown control directions, and unknown compound disturbance. Firstly, the dynamic model of GSP is transformed into a strict feedback formulation by designed FD to facilitate the backstepping control system. Secondly, performance functions are constructed at each step of backstepping design to force tracking errors to fall within the prescribed boundaries. Besides, through ingenious transformation, radial basis function neural network (RBFNN) is applied to estimate the unknown control gains preceded by hysteresis. Hence, the problem of prescribed performance control with unknown compound disturbances, unknown hysteresis, and unknown control directions is creatively solved. Furthermore, the exploited controllers are accurate model independent, which guarantees satisfactory robustness of control laws against unknown uncertainties. Finally, the stability of the closed-loop control system is confirmed via Lyapunov stability theory, and numerical simulations are given for a GSP to validate the effectiveness of the proposed controller.

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“…However, friction restricts the precision of the harmonic gear servo system. 3,4 For example, the velocity dead zone from friction in tracking sinusoidal signal and the position error from position friction under uniform motion restrict the performance of the harmonic gear. Therefore, it is necessary to investigate friction characteristics and compensate their effects.…”

Section: Introductionmentioning

confidence: 99%

Friction compensation of harmonic gear based on location relationship

Liao

Fan

Ding

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

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In the harmonic gear servo system, friction is associated with not only the velocity of the input shaft but also its angle position. Traditional friction compensation based on the velocity cannot guarantee the high motion accuracy. To address this problem, this article proposed a new friction model of harmonic gear servo system, which is related to both its velocity and position. The new model includes two parts: in the presliding region, the static friction is determined by the maximum elastic deformation recovery angle of the input shaft, and in the sliding region, the friction not only has Stribeck effect from velocity but also has harmonic series relative to the input shaft’s position. In this article, the parameters of friction model were obtained by preliminary experiments. A control diagram based on this model was established for friction compensation and the proposed control algorithm showed its superiority in the experiments.

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Application in prestiction friction compensation for angular velocity loop of inertially stabilized platforms

Cited by 9 publications

References 21 publications

Energy Efficiency of Force-Sensor-Controlled Humanoid-Robot Walking on Indoor Surfaces

Energy Efficiency of Force-Sensor-Controlled Humanoid-Robot Walking on Indoor Surfaces

Guaranteeing Prescribed Performance Control for Gyrostabilized Platform with Unknown Control Direction Preceded by Hysteresis

Friction compensation of harmonic gear based on location relationship

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