Pulse width control refers to the use of a control law to determine the duration of fixed-height force pulses for point-to-point position control of a plant that is subject to mechanical friction, including stiction. A quantitative measure of the performance of a pulse width control system is introduced. Applications of this measure suggest that piecewise-linear-gain pulse width control laws will often provide better performance than constant-gain pulse width control laws. A method for designing piecewise-linear-gain pulse width control laws is introduced. The performance measure and piecewise-linear-gain control law design method are demonstrated in applications to the control of the position of the end-effector of an industrial robot.
Issue Section:
Technical Papers
1.
Yang
, S.
, and Tomizuka
, M.
, 1998
, “Adaptive Pulse Width Control for Precise Positioning Under the Influence of Stiction and Coulomb Friction
,” ASME J. Dyn. Syst., Meas. Control
, 110
, pp. 221
–227
.2.
Rathbun
, D. B.
, Berg
, M. C.
, and Buffinton
, K. W.
, 2004
, “Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction
,” ASME J. Dyn. Syst., Meas. Control
, 126
(1
), pp. 131
–138
.3.
Rathbun, D. B., 2001, “Pulse Modulation Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction,” Ph.D. Dissertation, Department of Electrical Engineering, University of Washington, Seattle.
Copyright © 2004
by ASME
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