Friction modeling and adaptive compensation using a relay feedbackapproach
Kok Kiong Tan; Lee, T.H.; Huang, S.N.; Xi Jiang
Industrial Electronics, IEEE Transactions on
Volume 48, Issue 1, Feb 2001 Page(s):169 - 176
Digital Object Identifier   10.1109/41.904577
Summary: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

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