Disturbance Estimation and Compensation for High-Precision Point-to-Point Motion Control

摘要

Servomechanisms plays a key role in many modern industrial technologies, and thus high-precision point-to-point control systems are required. In this paper, a friction-estimation-based control system has been designed for friction compensation. In our previous paper (2018) precise motion of a mechanical servomechanism could be obtained using state-feedback-based controller. However, the targeted settling time still a challenging point. Accordingly, a friction-based state-feedback controller has been proposed in this study to compensate friction effects in order to perform a precise tracking of the positioning trajectory. The effectiveness of the proposed scheme has been investigated using a numerical simulation. The obtained results are discussed and compared with those of our previous study.