NDLI: Robust control design for ball screw system via descriptor representation and loop shaping

Content Provider	IEEE Xplore Digital Library
Author	Yamamoto, Takayuki Naito, Masakazu Chen, Gan Takami, Isao
Copyright Year	2014
Description	Author affiliation: Faculty of Science and Engineering, Nanzan University, Aichi, Japan (Yamamoto, Takayuki; Chen, Gan; Takami, Isao) \|\| AISIN SEIKI Co.,Ltd., Aichi, Japan (Naito, Masakazu)
Abstract	This paper proposes a method to solve practical problems of positioning control using a ball screw system. The practical problems contain two difficulties. First difficulty is that friction affects the performance of it. In this paper, the friction is divided into three components, nonlinear term including static friction and coulomb friction, Stribeck effect and linear term including viscous friction. Nonlinear friction and Stribeck effect are considered as disturbance. These are compensated by designing controller including integrator and loop shaping. In contrast, linear term friction can be considered in framework of linear control synthesis. Second difficulty is that the change in mass of load affects the system response. Moreover, the experiment shows viscous friction coefficient varies. The controller is designed to guarantee the robust stability for uncertain parameters, which are the mass of load and the viscous friction coefficient. It is designed by using descriptor representation, polytopic representation and linear matrix inequality. The effectiveness of the proposed method is verified by simulations and experiments.
Starting Page	82
Ending Page	87
File Size	1470163
Page Count	6
File Format	PDF
ISBN	9780956715746
DOI	10.1109/ICMIC.2014.7020732
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-12-03
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Swinburne University of Technology, Australia
Subject Keyword	Loop shaping: linear matrix inequality H∞ control robust stability Analytical models Zirconium Friction Polytopic representation Stick slip motion Iron Redundant descriptor representation Friction compensation
Content Type	Text
Resource Type	Article

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