Iterative feedback tuning of controllers for a two-mass-spring system with friction

摘要

In this paper, we present a two-degree-of-freedom controller tuning for two-mass-spring systems with friction based on the iterative feedback tuning (IFT) approach. While two-mass-spring systems are widely used as fundamental components of the mechanical servo systems, they have sometimes severe friction. In order to cope with such cases, we adopt two strategies. One is the separate tuning of feedback and feedforward controllers. In particular, the feedback controller is tuned to achieve low sensitivity rather than tracking. The other is to introduce a quasi-Newton method into a parameter renewal law. The effectiveness of the proposed method is demonstrated through numerical simulations. Furthermore, we evaluate its effectiveness by experiments.