Journal ArticleDOI
Automatic Friction Identification and Compensation with a Self-Adapting Dual Relay
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TLDR
The friction model, thus identified, will consist of Coulomb (including possibly directional Coulomb or load bias) and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments.Abstract:
The application of a dual relay feedback approach towards the identification of frictional effects in servo-mechanisms will be presented in this paper. The friction model, thus identified, will consist of Coulomb (including possibly directional Coulomb or load bias) and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, from the same experiments, the dynamical model of the servomechanical system can be obtained from the experiments. These models will be directly useful in the design of the feedback controller and the friction compensator. Results from simulation and experiments are presented to illustrate the practical appeal of the proposed method.read more
Citations
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Journal ArticleDOI
DC servomechanism parameter identification: A closed loop input error approach
Ruben Garrido,Roger Miranda +1 more
TL;DR: This paper presents a Closed Loop Input Error (CLIE) approach for on-line parametric estimation of a continuous-time model of a DC servomechanism functioning in closed loop that takes into account the control law employed for closing the loop.
Journal ArticleDOI
An Algebraic Recursive Method for Parameter Identification of a Servo Model
Ruben Garrido,Antonio Concha +1 more
TL;DR: In this paper, the authors proposed a two-step identification method for estimating the four parameters of a nonlinear model of a position-controlled servomechanism, which eliminates the effect of constant disturbances affecting the servomechms and filters out the high-frequency measurement noise.
Journal ArticleDOI
Limit cycles induced in type-1 linear systems with PID-type of relay feedback
TL;DR: This article investigates the limit cycles within type-1 linear systems under PID-type of relay feedback under dual-channel relay feedback to find the exact durations between two consecutive switchings of relays.
Proceedings ArticleDOI
Autotuning of a DC Servomechanism using Closed Loop Identification
Ruben Garrido,Roger Miranda +1 more
TL;DR: In this article, a methodology for automatic tuning of position controlled servomotors is presented, where the key element is a novel closed loop identification technique where the loop is closed using a standard Proportional Derivative controller.
Proceedings ArticleDOI
Autotuning of a dc servomechanism using closed loop identification
Ruben Garrido,Roger Miranda +1 more
TL;DR: A novel closed loop identification technique where the loop is closed using a standard proportional derivative controller and the servomotors parameters are estimated and employed for setting up a controller using linear quadratic regulator techniques.
References
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Book
Multiple-Input Describing Functions and Nonlinear System Design
TL;DR: The theory of automatic control has been advanced in important ways during recent years, particularly with respect to stability and optimal control, but these theories do not, however, lay to rest all questions of importance to the control engineer.
Journal ArticleDOI
Use of biased-relay feedback for system identification
TL;DR: In this article, the authors devise a relay feedback experiment that can identify two points on the Nyquist curve from a single test at the frequencies ω = 0 and ω=ω u.
Journal ArticleDOI
Robust servo-system based on two-degree-of-freedom control with sliding mode
Yasutaka Fujimoto,Atsuo Kawamura +1 more
TL;DR: Through simulations and experiments, it is proved that the introduction of nonlinear control (sliding mode) drastically improves the disturbance suppression characteristics of a linear system (two-degree-of-freedom control).
Journal ArticleDOI
Friction modeling and adaptive compensation using a relay feedback approach
TL;DR: The friction model obtained is also directly applicable to initialization of an adaptive control scheme proposed and can be automatically tuned in this manner for proportional-integral-derivative feedback motion controller and a feedforward friction compensator.
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