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考虑摩擦和参数不确定的平面五杆机构控制（Nonlinear Friction Compensation of Planar 5-bar Parallel Mechanism with Time Variable Parameters Using Sliding Mode Control）
平面并联机构 关节摩擦 滑模变结构控制
2009/5/22
建立了机构运动副摩擦的数学模型，将关节接触面间的作用力转换为理想约束力与摩擦力矩。将摩擦力矩视为外加非保守力，应用简化模型法建立了包含关节非线性摩擦的平面并联五杆机构的动力学模型。基于滑模变结构理论设计了该模型考虑参数不确定性的鲁棒轨迹跟踪控制器，并证明了其稳定性。实验和检测结果表明所建动力学模型正确，所设计的控制器对机构中的非线性摩擦力有较好的补偿效果并具有较强的鲁棒性。
NON-CONVENTIONAL METHOD FOR FRICTION COMPENSATION IN DC DRIVE POSITION TRACKING
friction non-model-based friction compensation stiction Stribeck effect
2010/1/12
Friction, especially its nonlinear components, may degrade the tracking
performance of any servo drive systems. Focused on high precision positioning of DC
electrical drive the paper proposes an eas...
DEVELOPMENT OF A SIMULINK® TOOLBOX FOR FRICTION CONTROL DESIGN AND COMPENSATION
Stiction Stribeck effect KFM
2010/1/12
This paper focuses on the development of a MATLAB/Simulink® library for servo-systems with friction as a part of a new simulation platform dedicated to model, analysis and control design of fricti...