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

Povzetek

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.

Ključne besede

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

Podatki

Jezik: Angleški jezik
Leto izida:
Tipologija: 1.01 - Izvirni znanstveni članek
Organizacija: UM FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
UDK: 681.513:621.313
COBISS: 11893526 Povezava se bo odprla v novem oknu
ISSN: 0278-0046
Št. ogledov: 1691
Št. prenosov: 95
Ocena: 0 (0 glasov)
Metapodatki: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Ostali podatki

Sekundarni jezik: Angleški jezik
Sekundarne ključne besede: opazovalniki;SMC;kontrolni sistemi;opazovalnik motenj;
URN: URN:SI:UM:
Strani: str. 3402-3412
Letnik: ǂVol. ǂ54
Zvezek: ǂno. ǂ6
Čas izdaje: dec. 2007
ID: 8717432