Aleš Hace (Author), Karel Jezernik (Author), Asif Šabanović (Author)

Abstract

Accurate position tracking control of a linear belt-driven servomechanism can cause vibrations in the drive response due to compliance and elasticity introduced by force transmission through the belt. This paper proposes a new control algorithm that has been designed by Sliding Mode Control theory. Though it has been proved to assure robust and vibration-free operation, position error peaks still appear at velocity reversals due to nonlinear friction phenomenon. Thus, the control scheme has been extended by asymptotic disturbance observer. The experiments presented in the paper show improved position tracking error response while maintaining vibration suppression.

Keywords

opazovalniki;SMC;kontrolni sistemi;opazovalnik motenj;motion control;disturbance observer;sliding mode control;timing-belt drive;vibration suppression;

Data

Language: English
Year of publishing:
Typology: 1.01 - Original Scientific Article
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
UDC: 681.513:621.313
COBISS: 11893526 Link will open in a new window
ISSN: 0278-0046
Views: 1691
Downloads: 95
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Other data

Secondary language: English
Secondary keywords: opazovalniki;SMC;kontrolni sistemi;opazovalnik motenj;
URN: URN:SI:UM:
Pages: str. 3402-3412
Volume: ǂVol. ǂ54
Issue: ǂno. ǂ6
Chronology: dec. 2007
ID: 8717432