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