18 October 2002 Friction compensation with repeat control at low spped for an optoelectronic system
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Proceedings Volume 4902, Optomechatronic Systems III; (2002) https://doi.org/10.1117/12.467377
Event: Optomechatronic Systems III, 2002, Stuttgart, Germany
Abstract
Concerning the disturbances at low speed, such as friction at zero crossings and the moment fluctuation of the motor, we explore the repeat control method rooted in study law to compensate the low-speed-disturbances, and the system's properties at low speed are improved greatly. Here we present our works. Section 1 is the introduction. The friction and moment fluctuation of the motor at low speed for the optoelectronic system are tested out which are shown in section 2. We introduce a repeat controller to the system to compensate the low-speed disturbances in section 3. Concerning the stability, a filter is added to the repeat controller. The experimental results are discussed in section 4. Not only the repeat control can overcome some low-speed-disturbances, but is more useful when tracking a periodic input signal.
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Juan Chen, Juan Chen, Jin Guo, Jin Guo, Tao Chen, Tao Chen, Wen-feng Bai, Wen-feng Bai, } "Friction compensation with repeat control at low spped for an optoelectronic system", Proc. SPIE 4902, Optomechatronic Systems III, (18 October 2002); doi: 10.1117/12.467377; https://doi.org/10.1117/12.467377
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