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Journal ArticleDOI

Friction Modeling and Compensation of Servomechanical Systems With Dual-Relay Feedback Approach

TL;DR: The application of a dual-relay feedback approach toward the identification of a model of servomechanical system through a comprehensive friction model that includes static friction, Coulomb friction, viscous friction, and the boundary lubrication velocity will be presented.
Abstract: The application of a dual-relay feedback approach toward the identification of a model of servomechanical system will be presented in this paper. The model will capture the linear dynamics of the system, as well as the frictional forces affecting the system, through a comprehensive friction model that includes static friction, Coulomb friction, viscous friction, and the boundary lubrication velocity. This friction model is able to adequately describe the friction property when the servo system runs under both low- and high-velocity modes. Properties of the oscillations induced under the dual relay will be presented, based on which insights for the selection of relay parameters can be drawn. A systematic set of procedures to derive all the parameters of the model will be furnished. The model will be directly useful in the design of the feedback controller and feedforward friction compensator. Results from the simulation and experiment will be presented to illustrate the practical appeal of the proposed method.
Citations
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Journal ArticleDOI
TL;DR: In this article, a periodical adaptive disturbance observer is proposed to attenuate periodic disturbances on repetitive motion using permanent magnet linear synchronous motors (PMLSMs), which is based on assumptions that all measured states and disturbances are periodic and repetitive.
Abstract: This paper presents a novel disturbance compensation scheme to attenuate periodic disturbances on repetitive motion using permanent magnet linear synchronous motors (PMLSMs), and this scheme is called the periodical adaptive disturbance observer. The scheme is based on assumptions that all measured states and disturbances are periodic and repetitive when the tasks executed by PMLSM motion systems have periodic and repetitive characteristics. In the proposed control scheme, a lumped disturbance is estimated by the classical linear disturbance observer (DOB) for the initial time period and stored in memory storages. It consists of parametric errors multiplied by states, friction force, and force ripple, and then, it is updated for each time period by the periodic adaptation law. This scheme requires no mathematical models of disturbances and adaptation laws of model parameters such as the mass of the mover and viscous friction coefficient. Also, it is possible to compensate for disturbances above as well as below the bandwidth of the Q-filter (LPF) of DOB. The effectiveness of the proposed control scheme is verified by various experiments that take into account varying frequency components of disturbances along the operating speed of a mover of PMLSM such as force ripple and friction force.

102 citations

Journal ArticleDOI
TL;DR: In this article, a new method to identify various linear and nonlinear parameters in PMLM, using a hysteretic relay feedback, was proposed to leverage on the biased limit cycles generated by even nonlinearities due to force ripple.
Abstract: The tracking performance of a motion system based on a permanent-magnet linear motor (PMLM) is greatly affected by nonlinearities present, such as force ripples and frictions. Although various identification and compensation schemes haven been reported for the PMLM, to the authors' best knowledge, no direct and unified modeling method for force ripples and friction is available till now. This paper proposes a new method to identify various linear and nonlinear parameters in PMLM, using a hysteretic relay feedback. Dual-input describing functions are imported to leverage on the biased limit cycles generated by even nonlinearities due to force ripple. The explicit formulae, derived from the harmonic balance condition, enable direct computation of model parameters with a minimum number of relay experiments. Simulation results and real-time experiments will be presented to verify the practical appeal of proposed method in precision motion control.

98 citations


Cites background or methods from "Friction Modeling and Compensation ..."

  • ...Unlike the symmetric oscillation in the case in [8], [15], and [23], the amplitude A and bias B of the oscillation may not be directly obtained from the oscillation especially when the asymmetric is severe....

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  • ...The identification of more complex friction model includes Stribeck effect is discussed in [8], [9], and [15]....

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  • ...Thus, the DIDF is equal to the SIDF, as discussed in [8]....

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  • ...In the equivalent system, the system nonlinearities, as well as the intentional relay, all use the error signal as the input, similar to [8]....

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  • ...To excite the biased limit cycle, the dual-channel relay as in [8] and [23] is not applicable due to existence of an integrator in the configuration....

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Journal ArticleDOI
TL;DR: This paper focuses on the friction compensation schemes, reviewing literature focusing on the intelligent designs of friction compensation in motion control systems, and highlights the advantages and disadvantages of the methods in these two categories.
Abstract: High-precision motion control is highly desirable in process and industrial automation, including the domains of machine tools, ultra-precision spindles, micro-manufacturing, biotechnology, disk drive read/write mechanisms, air-bearing positioning stages, etc. However, their performances are limited by various nonlinear factors in the actuators behind the applications, such as friction, creep, force ripples, and hysteresis. In this paper, we focus on the friction compensation schemes, reviewing literature focusing on the intelligent designs of friction compensation in motion control systems. Different types of friction models, from simple to complex structures, are reviewed, followed by detailed discussions on the friction compensation schemes. Finally, we highlight the advantages and disadvantages of the methods in these two categories, and offer recommendations for possible research directions.

48 citations


Cites background or methods from "Friction Modeling and Compensation ..."

  • ...In general, model-based friction compensation schemes assume that model parameters are constant or slowly varying in nature, and they make use of soft techniques to compensate the effects of friction [8], [22], [23]....

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  • ...For example, in [12], a relay technique is used to excite a sustained oscillation, from which information can be used to estimate coulomb and viscous frictional forces; in [22], a multi-relay method is employed to identify Stribeck friction which is approximated as quasi-linear elements; in [38], a least square algorithm is proposed for estimating the parameters of the LuGre model by considering different steady state velocities ẋv ; in [39], the least square algorithm is used to estimate the parameters of the Stribeck friction,...

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Journal ArticleDOI
Ruben Garrido1, Antonio Concha1
TL;DR: This paper proposes a method that estimates the parameters of a velocity-controlled servo using the steady-state response produced by steps and sine-wave signals and employs the estimate of the viscous friction coefficient obtained in the first step.
Abstract: This paper proposes a method that estimates the parameters of a velocity-controlled servo. A proportional-integral controller, which uses only position measurements, closes the loop. The proposed approach uses the steady-state response produced by steps and sine-wave signals; they do not produce high levels of vibration on the servo compared with random signals commonly used with the least squares algorithm; moreover, it relies on simple numerical calculations. The method, which is called in the sequel as the steady-state response method (SSRM), consists of two steps. The first step uses three constant reference inputs in order to identify a constant disturbance and the viscous and Coulomb friction coefficients of the servo. In the second step, the SSRM estimates the servo inertia using a sine wave plus a constant signal as a velocity reference input and employs the estimate of the viscous friction coefficient obtained in the first step. Experiments on a testbed employing a brushless servomotor allow comparing the results obtained using the SSRM and those produced by a standard recursive least squares method (RLSM).

48 citations


Cites methods from "Friction Modeling and Compensation ..."

  • ...The methods studied in [28]–[30] use a relay in the servo feedback loop for producing stable limit cycles, which, in turn, allows for the estimation of the friction parameters of a servo....

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Journal ArticleDOI
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.
Abstract: This study proposes a two-step identification method for estimating the four parameters of a nonlinear model of a position-controlled servomechanism. In the first step, the proposed approach, called the algebraic recursive identification method (ARIM), uses a parametrization derived from the operational calculus currently employed in algebraic identification methods (AIM) recently proposed in the literature. The procedure for obtaining this parametrization eliminates the effect of constant disturbances affecting the servomechanism and filters out the high-frequency measurement noise. A recursive least squares algorithm uses the parametrization for estimating the linear part of the servomechanism model, and allows eliminating the singularity problems found in the AIM. The second step uses the parameters obtained in the first step for computing the Coulomb friction coefficient and the constant disturbance acting on the servomechanism. Experimental results on a laboratory prototype allow comparing the results obtained using the AIM and the ARIM.

35 citations


Cites methods from "Friction Modeling and Compensation ..."

  • ...The methods presented in [9]–[13] use a relay in the servo feedback loop for producing stable limit cycles in the same way as in the case of industrial processes [16], where the stable limit cycles induced by the relay allow tuning a PID controller....

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References
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Book
01 Jan 1991
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).

15,545 citations


"Friction Modeling and Compensation ..." refers methods in this paper

  • ...elements by using the following DFs [7], [12], as shown in Fig....

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Journal ArticleDOI
TL;DR: This survey is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures, and provides a set of models and tools for friction compensation which will be of value to both research and application engineers.

2,658 citations


"Friction Modeling and Compensation ..." refers background in this paper

  • ...However, when the system operates in the low-velocity or bidirectional mode, a more accurate and elaborate model, which considers the static friction , the Coulomb friction , the viscous friction , as well as the Stribeck effect, will become necessary [1], [9]....

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  • ...When the system operates essentially in the high-velocity mode, a two-parameter friction model, which takes into account the Coulomb friction and viscous friction [1], [15], is adequate enough....

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Book
01 Jan 1968
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.
Abstract: ABRAMSON Information theory and coding BATTIN Astronautical guidance BLACHMAN Noise and its effect on communication BREMER Superconductive devices BROXMEYER Inertial navigation systems GELB AND VANDER VELDE Multiple-input describing functions and nonlinear system design GILL Introduction to the theory of finite-state machines HANCOCK AND WINTZ Signal detection theory HUELSMAN Circuits, matrices, and linear vector spaces KELSO Radio ray propagation in the ionosphere MERRIAM Optimization theory and the design of feedback control systems MUUM Biological control systems analysis NEWCOMB Linear multiport synthesis PAPOULIS The fourier integral and its applications R. N. BRACEWELL) STEINBERG AND LEQUEUX (TRANSLATOR Radio astronomy WEEKS Antenna engineering PREFACE The theory of automatic control has been advanced in important ways during recent years, particularly with respect to stability and optimal control. These are significant contributions which appeal to many workers, including the writers, because they answer important questions and are both theoretically elegant and practically useful. These theories do not, however, lay to rest all questions of importance to the control engineer. The designer of the attitude control system for a space vehicle booster which, for simplicity, utilizes a rate-switched engine gimbal drive, must know the characteristics of the limit cycle oscillation that the system will sustain and must have some idea of how the system will respond to attitude commands while continuing to limit-cycle. The designer of a chemical process control system must be able to predict the transient oscillations the process may experience during start-up due to the limited magnitudes of important variables in the system. The designer of a radar antenna pointing system with limited torque capability must be able to predict the rms pointing error due to random wind disturbances on the antenna, and must understand how these random disturbances will influence the behavior of the system in its response to command inputs. But more important than just being able to evaluate how a given system will behave in a postulated situation is the fact that these control engineers must design their systems to meet specifications on important characteristics. Thus a complicated exact analytical tool, if one existed, would be of less value to the designer than an approximate tool which is simple enough in application to give insight into the trends in system behavior as a function of system parameter values or possible compensations, hence providing the basis for system design. As an analytical tool to answer questions such as these in a way …

1,244 citations


"Friction Modeling and Compensation ..." refers methods in this paper

  • ...Remark 1: The DFs ( and ) are frequency dependent, compared to those in [9], since the inherent relay due to friction is precascaded with a differentiator....

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  • ...Remark 2: The DFs ( and ) are piecewise continuous, and is an approximation of the velocity amplitude....

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  • ...Using the approximation formulas proposed by Magnus [7], when the odd nonlinearity is precascaded with an differentiator, it follows that the DF is approximated by (19) By (19) (20) (21) (22) (23) (24) (25) Substituting (20)–(24) into (25) and applying (15) yield (26) (27) where and ....

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  • ...1 is approximated with quasi-linear elements by using the following DFs [7], [12], as shown in Fig....

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  • ...Similar to the procedures depicted in the last section, the DF of the equivalent relay is simply the sum of the individual DFs due to the feedback relays and and the inherent system relay , i.e., , where , , and ....

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Journal ArticleDOI
TL;DR: A robust adaptive compensation method for friction and force ripple present in the dynamics of permanent-magnet linear motors used in ultraprecise positioning applications is described.
Abstract: This paper describes a robust adaptive compensation method for friction and force ripple present in the dynamics of permanent-magnet linear motors The method is used in ultraprecise positioning applications The compensation algorithm consists of a PID component and an adaptive component for estimating friction and force ripple The adaptive component is continuously refined on the basis of just prevailing input and output signals Computer simulations and real-time experimental results verify the effectiveness of the proposed scheme for high-precision motion trajectory tracking

235 citations


"Friction Modeling and Compensation ..." refers background in this paper

  • ...Where the static feedforward controller cannot achieve perfect tracking, due to the existence of force ripples and other unmodeled uncertainties, an adaptive sliding controller can be considered to ensure that the tracking error is within the predetermined boundary [13]....

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Book
23 Nov 1999

219 citations


"Friction Modeling and Compensation ..." refers background in this paper

  • ...Today, many industrial controllers are equipped with such automatic tuning features in different forms [16]....

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