Friction Compensation in Servo-Drives
Friction is detrimental to the performance of a number of systems, specifically those demanding ultra-accurate positioning. Some debilitating effects of friction include non-zero steady-state errors in position and discontinuity in the velocity leading to
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Springer-Verlag Berlin Heidelberg GmbH
Engineering
ONLINE LlBRARY
http://www.springer.de/engine/
F. Khorrami . P. Krishnamurthy . H. Melkote
Modeling and Adaptive Nonlinear Control of Electric Motors With 184 Figures
Springer
Prof. Farshad Khorrami Prashanth Krislmamurthy Dr. Hemant Melkote ControllRobotics Research Laboratory (CRRL) Department ofElectrical and Computer Engineering Polytechnic University Six Metrotech Center Brooklyn, NY 11201 USA
E-mail: [email protected] [email protected] [email protected]
ISBN 978-3-642-05667-3 ISBN 978-3-662-08788-6 (eBook) DOI 10.1007/978-3-662-08788-6 Cataloging-in-Publication Data applied for Bibliographie information published by Die Deutsche Bibliothek. Die Deutsche Bibliothek lists this publication in the Deutsche Nationalbibliografie; detailed bibliographie data is available in the Internet at
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Originally published by Springer-Verlag Berlin Heidelberg New York in 2003 Softcover reprint of the hardcover 1st edition 2003 The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typesetting: Camera ready by authors Cover-design: deblik, Berlin 62/3020 hu - 5 43 2 1 0 Printed on acid-free paper
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To my wife, Brenda Farshad Khorrami
To my parents Prashanth Krishnamurthy
To my parents H emant M elkote
Preface Electromechanical actuators have been utilized in many applications from horne appliances to sophisticated guidance and control systems. Various electromechanical actuators such as electric motors, hydraulic and pneumatic actuators, smart materials (e.g., piezoceramics, magnetorestrictive materials, shapememory alloys, electrorheological fluids, etc.) have been considered. Modeling and control design for such actuators have been and are being pursued to achieve a higher level of performance. In this book, we consider modeling and control design of electric motors; namely step motors, brushless DC motors, and induction motors. These electrical motors are used in many applications; some requiring a high level of accuracy and performance such as machines used in the electronics industry for assembly or semiconductor wafer probing and inspection. It is the intent of this book t
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