Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 432129, 12 pages
Research Article

Low-Speed Control of Heavy-Load Transfer Robot with Long Telescopic Boom Based on Stribeck Friction Model

College of Automation, Harbin University of Science and Technology, Harbin 150080, China

Received 5 September 2012; Accepted 23 October 2012

Academic Editor: Hamid Reza Karimi

Copyright © 2012 Bo You et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The severe low-speed creep phenomenon occurs in the telescopic boom system of a heavy-load transfer robot with a long telescopic boom as a result of nonlinear friction. In order to improve control precision and operation performance at low speeds, we built a three-loop control nonlinear model of an AC servo motor with Stribeck friction disturbance. Traditional proportional-integral-derivative controller (PID) and fuzzy PID controls were, respectively, adopted in the position loop, and the control performance was simulated. The results showed that a system with fuzzy PID control eliminates “flat top” position tracking and “dead zone” speed tracking, which are generated by traditional PID, and thereby decreases the effect of friction on the performance of the servo system. This elimination also improved the tracking accuracy and robustness of the system.