Adaptive robust control of linear motor systems with dynamic friction compensation using modified LuGre model

Lu Lu, Bin Yao, Qingfeng Wang, Zheng Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations

Abstract

LuGre model has been widely used in dynamic friction modeling and compensation. However, there are some practical difficulties when applying it to systems experiencing large range of motion speeds such as the linear motor drive system studied in the paper. This paper first details the digital implementation problems of the LuGre model based dynamic friction compensation. A modified model is then presented to overcome those shortcomings. The proposed model is equivalent to LuGre model at low speed, and the static friction model at high speed, with a smooth transition between them. A discontinuous projection based adaptive robust controller (ARC) is then constructed, which explicitly incorporates the proposed modified dynamic friction model for a better friction compensation. Nonlinear observers are built to estimate the unmeasurable internal state of the dynamic friction model. Online parameter adaptation is utilized to reduce the effect of various parametric uncertainties while certain robust control laws are synthesized to effectively handle various modeling uncertainties for a guaranteed robust performance. The proposed controller is also implemented on an industrial linear motor driven gantry system, along with controllers with the traditional static friction compensation and LuGre model compensation. Extensive comparative experimental results have been obtained, revealing the instability when using the traditional LuGre model for dynamic friction compensation at high speed experiments and the improved tracking accuracy when using the proposed modified dynamic friction model. The results validate the effectiveness of the proposed approach in practical applications.

Original languageEnglish (US)
Title of host publicationProceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages961-966
Number of pages6
DOIs
StatePublished - Sep 30 2008
Externally publishedYes
Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China
Duration: Aug 2 2008Aug 5 2008

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Country/TerritoryChina
CityXi'an
Period8/2/088/5/08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Keywords

  • Adaptive robust control
  • Dynamic friction
  • Linear motor
  • LuGre model
  • Motion control

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