کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
732906 893278 2006 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Development of a novel dynamic friction model and precise tracking control using adaptive back-stepping sliding mode controller
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Development of a novel dynamic friction model and precise tracking control using adaptive back-stepping sliding mode controller
چکیده انگلیسی

The LuGre model which has been widely used to describe the friction phenomenon for mechanical systems consists of stiffness and viscous terms. The stiffness term of the LuGre model shows the friction torque to act linearly for the internal state of friction dynamics. Thus it cannot represent the hysteresis phenomenon of friction in the pre-sliding phase. Especially the hysteresis has the non-local memory characteristics. In this paper, the non-local memory hysteresis phenomenon is analyzed through experiments and the improved friction model using the Preisach model is proposed. In order to implement the Preisach model, the neural network algorithm is used to increase the efficiency of the Preisach algorithm. Based on the improved friction model, the adaptive back-stepping sliding mode controller (SMC) is designed to improve tracking performance in the sliding and pre-sliding phases. To evaluate the performance of the proposed friction control system, experiments are executed for a ball-screw servo system and the satisfactory results are shown.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 16, Issue 2, March 2006, Pages 97–104
نویسندگان
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