Sliding Observer for Friction Compensation in a Linear-Motor-Driven Motion System

具順滑模態觀測器之線型馬達摩擦力補償研究

洪榮煌(Rong-Hwang Horng) ； 李安謙(An-Chen Lee)

《中國機械工程學刊》 32卷1期 (2011/02) Pp. 67-78

https://doi.org/10.29979/JCSME.201102.0008

摘要

本文研究方向在於設計一順滑模態觀測器來觀測線型馬達中無可避免的摩擦力及非線性干擾現象，進而迴授補償至系統輸入力矩，達到精準的控制效果。文中先針對包含LuGre動態摩擦力模型之非線性系統，利用Lie derivative的方法，針對系統狀態進行了可觀測性分析，並依照可觀測的輸入輸出條件設計順滑模態觀測器，再利用耗散穩定的分析工具計算穩定的觀測器增益值，進行實際之摩擦力觀測與控制。在追蹤與定位的實驗結果與分析得知，其追蹤與定位效能比單純使用干擾觀測器(Disturbance Observer)補償或完全沒有摩擦力補償來的效果好。

並列摘要

In this work, a sliding-mode observer is developed for estimating unavoidable frictions and undesired disturbance in motion systems. The estimated parameters are then feedback for compensation to achieve precise control. With proper observability analysis performed by using Lie derivative method, the design of observer is based on the underlying nonlinear system with LuGre friction Model. While maintaining the stability of the observer, we choose the observer gains to make the system a dissipative one. As a conclusion in the last section, the proposed method is applied to a linear-motordriven motion system. The experimental results show that the tracking and positioning performance with the proposed friction compensation method are smaller than those of the disturbance observer (DOB) compensation or without friction compensation.

並列關鍵字

Linear-Motor-Driven Motion System ； Sliding Friction Observer ； LuGre Friction Model ； Observability Analysis ； Stability Analysis