Friction compensation with repeat control at low speed for an optoelectronic system

摘要

Concerning the disturbances at low speed, such as friction at zero crossings and the moment fluctuation of the motor, we explore the repeat control method rooted in study law to compensate the low-speed-disturbances, and the system's properties at low speed are improved greatly. Here we present our works. Section 1 is the introduction. The friction and moment fluctuation of the motor at low speed for the optoelectronic system are tested out which are shown in section 2. We introduce a repeat controller to the system to compensate the low-speed disturbances in section 3. Concerning the stability, a filter is added to the repeat controller The experimental results are discussed in section 4. Not only the repeat control can overcome some low-speed-disturbances, but is more useful when tracking a periodic input signal.