Abstract
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This paper investigates the effect of using force
impulses of different shapes to control machines with friction to
achieve more precise positioning and better low speed velocity
control. It is shown that by shaping the pulses the smallest
available movement of the servomechanism, can be reduced,
and so it’s precision is enhanced. Several new force impulse
controllers are investigated and their benefits, including
improved precision and reduced machine vibration, described
and experimentally verified. These benefits are achieved
without mechanical modifications or any requirement for
higher tolerance mechanical components, and the control
scheme does not have to replace, but can be used to augment, a
conventional PID controller.