By K. Peter und B. Orlik
| EPE 2003 - Topic 06e: Applications | ||
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| | Position control of a two-mass system with high static friction
By K. Peter und B. Orlik | |
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Abstract: Many different types of mechanical systems are in fact two-mass systems. The simplified model as a
one-mass system for the controller syntheses causes problems in many industrial applications. In
respect of rising performance demands, the compliant coupling of the motor and the load must be
considered. An additional common problem is the variation of the load mass. For the control, a
mechanical load resonance can cause problems. This difficulty increases with the appearance of
nonlinear friction. High static friction or stiction often causes problems like stick slip effects and limit
cycles. Also a steady-state accuracy might not be able to be reached. To handle all these difficulties a
powerful control is needed. The remarkable simplicity of the control presented in this paper makes it
very interesting for many applications.
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