Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model
Joint Authors
You, Bo
Qiao, Ming
Xu, Jiazhong
Liu, Dan
Source
Mathematical Problems in Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-12-17
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1001597