Friction modeling and adaptive compensation using a relay feedbackapproach
Kok Kiong Tan
Lee, T.H.
Huang, S.N.
Xi Jiang
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 2001
Volume: 48,
Issue: 1
On page(s): 169-176
ISSN: 0278-0046
References Cited: 14
CODEN: ITIED6
INSPEC Accession Number: 6860892
Digital Object Identifier: 10.1109/41.904577
Current Version Published: 2002-08-07
Abstract
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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