Pulse shaping of an impulse controller to improve precision of machines with friction

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.