low-speed control of heavy-load transfer robot with long telescopic boom based on stribeck friction model

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ID: 208422
2012
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Abstract
The severe low-speed creep phenomenon occurs in the telescopic boom system of a heavy-load transfer robot with a long telescopic boom as a result of nonlinear friction. In order to improve control precision and operation performance at low speeds, we built a three-loop control nonlinear model of an AC servo motor with Stribeck friction disturbance. Traditional proportional-integral-derivative controller (PID) and fuzzy PID controls were, respectively, adopted in the position loop, and the control performance was simulated. The results showed that a system with fuzzy PID control eliminates “flat top” position tracking and “dead zone” speed tracking, which are generated by traditional PID, and thereby decreases the effect of friction on the performance of the servo system. This elimination also improved the tracking accuracy and robustness of the system.
Reference Key
you2012mathematicallow-speed Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;Bo You;Ming Qiao;Jiazhong Xu;Dan Liu
Journal journal of power sources
Year 2012
DOI
10.1155/2012/432129
URL
http://dx.doi.org/10.1155/2012/432129
Keywords
civil engineering (general)mathematics engineering (general)

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