Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model

المؤلفون المشاركون

You, Bo
Qiao, Ming
Xu, Jiazhong
Liu, Dan

المصدر

Mathematical Problems in Engineering

العدد

المجلد 2012، العدد 2012 (31 ديسمبر/كانون الأول 2012)، ص ص. 1-12، 12ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2012-12-17

دولة النشر

مصر

عدد الصفحات

12

التخصصات الرئيسية

هندسة مدنية

الملخص EN

The severe low-speed creep phenomenon occurs in the telescopic boom system of a heavy-load transfer robot with a long telescopic boom as a result of nonlinear friction.

In order to improve control precision and operation performance at low speeds, we built a three-loop control nonlinear model of an AC servo motor with Stribeck friction disturbance.

Traditional proportional-integral-derivative controller (PID) and fuzzy PID controls were, respectively, adopted in the position loop, and the control performance was simulated.

The results showed that a system with fuzzy PID control eliminates “flat top” position tracking and “dead zone” speed tracking, which are generated by traditional PID, and thereby decreases the effect of friction on the performance of the servo system.

This elimination also improved the tracking accuracy and robustness of the system.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

You, Bo& Qiao, Ming& Xu, Jiazhong& Liu, Dan. 2012. Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model. Mathematical Problems in Engineering،Vol. 2012, no. 2012, pp.1-12.
https://search.emarefa.net/detail/BIM-1001597

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

You, Bo…[et al.]. Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model. Mathematical Problems in Engineering No. 2012 (2012), pp.1-12.
https://search.emarefa.net/detail/BIM-1001597

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

You, Bo& Qiao, Ming& Xu, Jiazhong& Liu, Dan. Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model. Mathematical Problems in Engineering. 2012. Vol. 2012, no. 2012, pp.1-12.
https://search.emarefa.net/detail/BIM-1001597

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1001597