Abstract
A fuzzy adaptive feedforward control scheme in conjunction with classical feedback control is proposed for the low speed control of DC motors driving mechanical systems in the presence of friction. In the fuzzy adaptive scheme, a fuzzy logic based friction estimator estimates the actual friction and the estimated friction is used to compensate for the actual friction by feedforward control. The classical feedback control scheme is combined with the fuzzy adaptive feedforward scheme, and compensates for the residual friction. To prove the effectiveness of the proposed control technique, three control systems with different feedback controllers are applied to the low speed control of a DC motor driving a simplified mechanical system which has both dry and lubricated sliding junctions. For experiments, an IBM PC, a DSPACE DSP board, SE uLM and Real Time Workshop are used. All three control systems can achieve such a very low sustainable speed as 0.005 rad/sec without stick-slip oscillations, which appear when classical feedback control alone is used.
Hyun, Dongyoon (1997). Low speed control of a DC motor driving a mechanical system with fuzzy adaptive compensation. Master's thesis, Texas A&M University. Available electronically from
https : / /hdl .handle .net /1969 .1 /ETD -TAMU -1997 -THESIS -H98.