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Investigation on The Efficiency of Acceleration Feedback in Servomechanism With Friction

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Dynamics and Control

Abstract

Friction is known to cause positioning and tracking problems for mechanism with friction. At low velocities, friction models are not well defined and measurements are ill-conditioned. Acceleration feedback was found to be an interesting approach to deal with those problems. In this paper, motivations for using acceleration feedback in cases of mechanisms with friction are investigated. By examining its effect on the positioning problem of a servomechanism, power transfer analysis is used to demonstrate the efficiency of the acceleration feedback at low velocities. From this conclusion, a Proportional-Derivative-Acceleration feedback controller is proposed. The design of the acceleration feedback gain is performed using an optimal control design approach where the contribution of the acceleration feedback is minimized. Both simulation and experimental results are used to demonstrate the approach.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Ottawa, Ottawa, KIN 6N5, Canada

    D. S. Necsulescu & J. De Carufel

  2. Laboratoire d'Automatique de Grenoble, ENSIEG, URA CNRS 228, Grenoble, France

    C. Canudas De Wit

Authors
  1. D. S. Necsulescu
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  2. J. De Carufel
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  3. C. Canudas De Wit
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Necsulescu, D.S., Carufel, J.D. & Wit, C.C.D. Investigation on The Efficiency of Acceleration Feedback in Servomechanism With Friction. Dynamics and Control 7, 377–397 (1997). https://doi.org/10.1023/A:1008224527981

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