Friction modeling and adaptive compensation using a relay feedback approach

被引：54

作者：

Tan, K.K. ^{[1
]}

Lee, T.H. ^{[1
]}

Huang, S.N. ^{[1
]}

Jiang, X. ^{[1
]}

机构：

[1] Dept. of Elec. and Computer Eng., National University of Singapore, Singapore 117576, Singapore

来源：

| 2001年 / Institute of Electrical and Electronics Engineers Inc.卷 / 48期

关键词：

Adaptive control systems - Computer simulation - Electric currents - Electric potential - Feedback - Friction - Linear motors - Mathematical models - Motion control - Parameter estimation - Permanent magnets - Three term control systems;

D O I：

10.1109/41.904577

中图分类号：

学科分类号：

摘要：

In this paper, the application of a dual-relay feedback approach toward modeling of frictional effects in servomechanisms is addressed. The friction model consists of Coulomb and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, the dynamical model of the servomechanical system can be obtained from the experiments. Thus, a proportional-integral-derivative feedback motion controller and a feedforward friction compensator can be automatically tuned in this manner. The friction model obtained is also directly applicable to initialization of an adaptive control scheme proposed. Results from simulation and experiments are presented to illustrate the practical appeal of the proposed method.

引用