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Nonlinear Friction Compensatio Desing for Mechattomics Servo Systems Using Neural Network

Dae won Chung/Nobuhiro Kyura/Hiromu Gotanda
Transaction on Control Automation, and Systems Engineering, vol. 3, no. 2, pp.111-116, 2001

Abstract : A neural network compensator for stick-slip friction phenomena in meachatronics servo systems is practically proposed to supplement the traditionally available position and velocity control loops for precise motion control. The neural network compensator plays the role of canceling the effect of nonlinear slipping friction force. It works robustly and effectively in a real control system. This enables the mechatronics servo systems to provide more precise control in the digital computer. It was confirmed that the control accuracy is improved near zero velocity and the points of changing the moving direction through numerical simulation. However, asymptotic property of the steady state error of the normal operating points is guaranteed by the integral term of traditional velocity loop controller.

Keyword : friction force compensation, mechatronics servo system, neural network compensator, precise control

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