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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)
Event: Optomechatronic Systems III, 2002, Stuttgart, Germany
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.
© (2002) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Juan Chen, Jin Guo, Tao Chen, and Wen-feng Bai "Friction compensation with repeat control at low spped for an optoelectronic system", Proc. SPIE 4902, Optomechatronic Systems III, (18 October 2002);

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