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.
Piecewise-Linear-Gain Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction
Contributed by the Dynamic Systems. Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division December 4, 2002; final revision, August 12, 2003. Associate Editor: C. D. Rahn.
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Rathbun, D. B., Berg, M. C., and Buffinton, K. W. (April 12, 2004). "Piecewise-Linear-Gain Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction ." ASME. J. Dyn. Sys., Meas., Control. March 2004; 126(1): 139–143. https://doi.org/10.1115/1.1649979
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