Acceleration feedback control for low velocity friction in a servo control system

Tao Tang; Yongmei Huang; Chengyu Fu; Jiaguang Ma

doi:10.1117/12.831439

5 May 2009 Acceleration feedback control for low velocity friction in a servo control system

Tao Tang, Yongmei Huang, Chengyu Fu, Jiaguang Ma

Proceedings Volume 7281, 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Large Mirrors and Telescopes; 72810F (2009) https://doi.org/10.1117/12.831439
Event: AOMATT 2008 - 4th International Symposium on Advanced Optical Manufacturing, 2008, Chengdu, Chengdu, China

Abstract

The control system stability is very important to be taken into account whether in fast tracking control systems or in slow tracking control systems. In particular, position tracking error becomes a great rush as long as the velocity is approximate to zero, or when the gimbals reverse into another direction. This is mainly because the friction torque causes the control system instability. Particularly in the only speed tracking system, it is very clear that the system oscillates back and forth until the velocity turns into a great value. By Lyapunov stability theory, the closed-loop system with only the velocity feedback proves to be unstable in low velocity tracking control. The acceleration is directly equivalent to torque, so a control algorithm base acceleration feedback control is proposed and introduced into the regular feedback system to eliminate the effects of low velocity friction, which includes velocity loop and tracking loop. The angular acceleration of the gimbals is computed from high precision accelerometers, while the velocity is filtered from the high-precision encoder. Experiments show that the proposed method with acceleration feedback loop eliminates the low velocity friction for stability and achieves high-precision tracking control performances.

Citation Download Citation

Tao Tang, Yongmei Huang, Chengyu Fu, and Jiaguang Ma "Acceleration feedback control for low velocity friction in a servo control system", Proc. SPIE 7281, 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Large Mirrors and Telescopes, 72810F (5 May 2009); https://doi.org/10.1117/12.831439

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