Friction Models and Friction Compensation

被引：1031

作者：

Olsson, H. ^{[1
]}

Astrom, K. J. ^{[1
]}

de Wit, C. Canudas ^{[2
]}

Gafvert, M. ^{[1
]}

Lischinsky, P. ^{[3
]}

机构：

[1] Lund Univ, Lund Inst Technol, Dept Automat Control, S-22100 Lund, Sweden

[2] ENSIEG INPG, CNRS INPG UJF, Lab Automat Grenoble, Grenoble, France

[3] ULA, EIS, Control Dept, Merida, Venezuela

来源：

EUROPEAN JOURNAL OF CONTROL | 1998年 / 4卷 / 03期

基金：

瑞典研究理事会;

关键词：

Friction; Friction compensation; Models; Observers; Passivity;

D O I：

10.1016/S0947-3580(98)70113-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper reviews friction phenomena and friction models of interest for automatic control. Particular emphasis is given to two recently developed dynamic friction models: the Bliman-Sorine model and the LuGre model. These models capture many frictional phenomena observed in laboratory experiments. The behaviours of the models in different situations are discussed in detail. Methods for friction compensation are presented and illustrated with results from practical experiments.

引用

页码：176 / 195

页数：20

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