Artículos

 

Control of Mechanical Systems with Dry Friction

 

Control de sistemas mecánicos con fricción seca

 

Roque Martínez¹ and Joaquín Álvarez²

 

¹ Programa de Ingeniería Mecánica, Unidad Académica de Ingeniería, Universidad Autónoma de Zacatecas, Zacatecas, Zac., Mexico. Correo: rmartinez@uaz.edu.mx.

² Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, CICESE, Ensenada, B. C., Mexico. Correo: jqalvar@cicese.mx.

 

Article received on 15/01/2010.
Accepted on 17/02/2011.

 

Abstract

A technique to design a dynamic continuous controller to regulate a class of full–actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady–state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2–DOF underactuated mechanical system with dry friction in the non–actuated joint is described. Here, the control objective is to regulate the non–actuated variable while the position and speed of the actuated joint remain bounded. Performance issues of the developed synthesis are illustrated with numerical and experimental results.

Keywords: Stability, friction, mechanical systems, underactuated systems.

 

Resumen

Se propone una estrategia de diseño de un controlador dinámico continuo para regular una clase de sistemas mecánicos totalmente actuados con fricción seca. Se demuestra que el control elimina el error en estado estacionario y que es robusto frente a cierto tipo de incertidumbres en los parámetros del sistema. Se propone también un método sencillo para calcular los parámetros del controlador. Además, se describe la aplicación de este resultado al control de sistemas subactuados de 2 grados de libertad, con fricción seca en la articulación no actuada. En este caso, el objetivo de control es regular la variable no actuada, manteniendo limitadas las amplitudes de la posición y de la velocidad de la articulación actuada. El desempeño del controlador propuesto se ilustra con resultados numéricos y experimentales.

Palabras clave: Estabilidad, fricción, sistemas mecánicos, sistemas subactuados.

 

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