Nonlinear identification and optimal feedforward friction compensation for a motion platform

Guc, Furkan; Yumrukcal, Zafer; Özcan, Onur

doi:10.1016/j.mechatronics.2020.102408

Cited by 9 publications

(4 citation statements)

References 35 publications

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“…For short-range precision tracking, the frictional nonlinearity in servo mechanisms may become influential, and a friction compensation regime can be included to improve the steady-state accuracy (see e.g. Guc et al, 2020;Su et al, 2021;Verbert et al, 2016;Wang et al, 2019).…”

Section: _ Xmentioning

confidence: 99%

A large-stroke rapid motion controller for servo applications with speed and control constraints

Cheng

2021

Transactions of the Institute of Measurement and Control

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Large-stroke rapid motion is required in many industrial servo systems (e.g. pick-and-place applications), on which constraints of control input and motion speed are usually imposed. This paper presents a hybrid control scheme for large-stroke rapid motion in such systems. The controller resorts to the time-optimal control (TOC) for maximum acceleration initially and then switches into a linear control law to achieve smooth settling. A speed regulation stage is inserted in the tracking process to prevent violating the speed constraint. To tackle the unmeasured speed and unknown disturbance, an extended state observer (ESO) can be included in the controller. The controller is applied to a permanent magnet synchronous motor (PMSM) servo system for large-stroke position regulation. Digital simulation via MATLAB is conducted first, followed by an experimental verification using a TMS320F28335 board. The results confirm that the proposed controller can track a wide range of target references with desirable performance under speed constraint and load disturbance and has a competitive advantage over the popular active disturbance-rejection control (ADRC) scheme.

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Section: _ Xmentioning

confidence: 99%

A large-stroke rapid motion controller for servo applications with speed and control constraints

Cheng

2021

Transactions of the Institute of Measurement and Control

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“…An improved least squares algorithm was used by Ma to identify the Stribeck friction model based on a compensation algorithm to achieve better compensation for the friction force [11]. Guc proposed to model and identify the friction based on the Stribeck friction model to reduce the trajectory tracking error based on the streamlined motor model [12]. Nevertheless, there is still some enhancement potential considering the absence of dynamic characteristics of friction in such friction models.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Non-Singular Terminal Sliding Mode Control Method for Electromagnetic Linear Actuator

Tan

et al. 2022

Micromachines

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In this study, to further improve the dynamic performance and steady-state accuracy of the electromagnetic linear actuator (EMLA) for the direct-drive system, the adaptive non-singular terminal sliding mode controller (ANTSMC) based on an improved disturbance observer (IDOB) is proposed. Accurate modeling of the EMLA based on the LuGre friction model was obtained by identification. Aiming at the continuous disturbance of the system, a non-singular terminal sliding mode control based on improved exponential reaching law (IERL) is designed, which is combined with the advantages of fuzzy control. Adaptive adjustment of the IERL gain is achieved to ensure finite time convergence of the tracking error while suppressing system jitter. Based on the IDOB to achieve effective observation compensation under noise disturbance and further improve the system robustness. The stability of the control is analyzed based on the Lyapunov function. The results show that the proposed method suppresses the jitter and improves the tracking performance and robustness of the servo system for different desired trajectories effectively.

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“…14 There also exist survey studies in literature where a detailed analysis and comparison of frequency dependent system identification techniques involving HOSIDF approach. 15 Some recent studies about HOSIDF theory also involve research papers dealing with nonlinear identification of a motion platform, 16 usage of HOSIDFs at the optimal sequence for reset controllers 17 and HOSIDF-based compensator design for disturbance attenuation problem. 18 The proposed frequency based compensator designed via HOSIDF theory in this study is structured in terms of Bernstein polynomials which are also used in different applications such as the development of mathematical algorithms for different purposes in literature.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Bernstein polynomials based compensator design for coupled tank system with saturation nonlinearity

Tacal

Ucun

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This study deals with the design of Bernstein polynomials based compensator in order to attenuate the degrading effect of saturation nonlinearities in process control applications. The proposed compensator is structured in terms of Bernstein polynomials and a frequency dependent cost function is utilized in order to calculate the optimal coefficients for the proposed compensator. In order to illustrate the efficiency of proposed compensator, a well-known benchmark process control problem, the coupled tank system, is taken into consideration in this study. The success of the proposed compensator is illustrated via frequency based harmonic plots and time domain plots of saturated control signal.

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Nonlinear identification and optimal feedforward friction compensation for a motion platform

Abstract: We certify that we have read this thesis and that in our opinion it is fully adequate, in scope and in quality, as a thesis for the degree of Master of Science.

Cited by 9 publications

References 35 publications

A large-stroke rapid motion controller for servo applications with speed and control constraints

A large-stroke rapid motion controller for servo applications with speed and control constraints

Adaptive Non-Singular Terminal Sliding Mode Control Method for Electromagnetic Linear Actuator

Bernstein polynomials based compensator design for coupled tank system with saturation nonlinearity

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