High-speed positioning control method that made the non-linear friction compensation

摘要

PURPOSE:To make accurate a high-speed positioning control by setting a control aim so as to be converged at a prescribed width in respect of a sliding curve, combining a sliding mode control and an integration control, and compensating Coulomb's friction. CONSTITUTION:A mode is switched on the both sides of a sliding curve Sl=0 so that a phase surface locus may be constrained near delta of the sliding curve Sl=0 set on the phase surface concerning a position deviation X1, and a manipulated variable USC for the generation of the sliding mode and a compensation item UC of the Coulomb's friction are decided, and based on the manufactured variable USC for the generation of the sliding mode, the compensation item UC of the Coulomb's friction and a compensation area deltaFC of the Coulomb's friction, a manipulated variable U is set, and the positioning control is performed. The manipulated variable U can be obtained from the expression of U=USL+f(deltaFC).UC; however, when ¦X1¦=deltaFC, f(deltaFC)=1, and when ¦X1¦deltaFC, f(deltaFC)=0.