A New Repetitive Adaptive Compensation Scheme in the DC Motor System

A new repetitive adaptive compensation scheme is proposed for the dynamic friction and periodic ripple moment in a DC motor system. The paper's contribution is to add repetitive control scheme into the adaptive-based compensation scheme. A LuGre dynamic friction model with non-uniformly variational parameters is used in the motor system. The compensation algorithm consists of a PD component, an adaptive component and a repetitive component. The adaptive component is to estimate and compensate for the unknown model parameters, moreover the induced repetitive controller is motivated by the attempt to improve the system motion trajectory tracking performance. The system stability and the uniformly ultimately position tracking performance are guaranteed by utilizing Lyapunov method. Finally, computer simulations verify the effectiveness of the proposed scheme for the high-precision servo system