Friction compensation of servo system based on terminal switching function

The Journal of Engineering

Xue Lin¹  Zhonghua Wang² 

[1] School of Electrical Engineering, University of Jinan, Jinan 250022, People's Republic of China

关键词: sliding mode adaptive controller;    friction compensation;    equilibrium point;    LuGre friction model;    servosystem;    transient performance;    closed-loop system;    sliding mode surface;    terminal switching function;    asymptotical stability theorem;    dynamic simulations;   

DOI  :  10.1049/joe.2013.0026

学科分类：工程和技术（综合）

来源: IET

【 摘 要 】

Based on the LuGre friction model, a sliding mode adaptive controller is presented to compensate for the friction in the servo system. The terminal switching function is selected as the sliding mode surface, which can make the error of the system converge to the equilibrium point in finite time. The main analytical result is a stability theorem for the proposed controller which can achieve asymptotical stability of the closed-loop system. Furthermore, the transient performance of the system is analytically quantified. To support the theoretical concepts, the authors present dynamic simulations for the proposed control scheme.

【 授权许可】

CC BY