Pulse shaping of an impulse controller to improve precision of machines with friction

Authors

Stephen van Duin, University of WollongongFollow
Christopher Cook, University of WollongongFollow
Zheng Li, University of WollongongFollow
Gursel Alici, University of WollongongFollow

RIS ID

81633

Publication Details

van Duin, S., Cook, C., Li, Z. & Alici, G. (2013). Pulse shaping of an impulse controller to improve precision of machines with friction. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1133-1139). United States: IEEE.

Abstract

This paper investigates the effect of using force impulses of different shapes to control machines with friction to achieve more precise positioning and better low speed velocity control. It is shown that by shaping the pulses the smallest available movement of the servomechanism, can be reduced, and so it’s precision is enhanced. Several new force impulse controllers are investigated and their benefits, including improved precision and reduced machine vibration, described and experimentally verified. These benefits are achieved without mechanical modifications or any requirement for higher tolerance mechanical components, and the control scheme does not have to replace, but can be used to augment, a conventional PID controller.