Modeling, Identification, and Compensation of Stick-Slip Friction
Lrinc Marton
Bla Lantos
Dept. of Electr. Eng., Univ. of Transylvania, Tirgu Mures;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb. 2007
Volume: 54,
Issue: 1
On page(s): 511-521
ISSN: 0278-0046
INSPEC Accession Number: 9299075
Digital Object Identifier: 10.1109/TIE.2006.888804
Current Version Published: 2007-02-05
Abstract
The paper presents a novel approach for stick-slip friction modeling. The adaptive friction compensator, which uses this modified model guarantees the convergence of the tracking error to a small residual set and at the same time the algorithm can easily be implemented on standard industrial controller architectures. The model clearly distinguishes the low and the high-velocity regimes. Accordingly, at low velocities the adaptive laws in the friction compensator tune only the parameters which characterizes the low-speed friction behavior (Striebeck friction) and at the high-speed regime the adaptive laws modify only the parameters which characterize the high-speed friction behavior (Coulomb and viscous friction terms). An off-line identification method for the friction model parameters is also presented. Experimental results are provided to show the performances of the proposed friction modeling and compensation method
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