Friction Compensation Device for Position Control in Dynamic Systems

摘要

The present invention relates to a friction force compensation device for position control in a dynamics system. In order to compensate the friction force based on the friction force model, a friction force compensation value is generally applied as a torque command. In this case, frictional force is generally modeled as a function of speed, and precise speed measurement at low speed is needed. In the present invention, a method using a Karnopp model and a hysteresis function that can effectively compensate for friction force using only encoder values of a motor used in a position controller without using a separate speed detector are presented. In addition, the present invention proposes a method using a Karnopp model and a method using a hysteresis function together.