Journal ArticleDOI
Friction Modeling and Compensation of Servomechanical Systems With Dual-Relay Feedback Approach
TLDR
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.read more
Citations
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Journal ArticleDOI
Servo System Identification Based on Curve Fitting to Phase-Plane Trajectory
TL;DR: A novel method to identify servo system parameters through curve fitting to the phase-plane trajectory under the help of one optimization method is proposed and the guidelines of the initial parameter setting are introduced.
Proceedings ArticleDOI
Friction compensation without a friction model
TL;DR: The design of a position control system for plants that have nonlinear friction uses nested integral tracking loops: an inner velocity loop and an outer position loop that results in effective friction compensation over a certain bandwidth.
Journal ArticleDOI
Control System Design and Modeling for Compensation Wheel
Lei Wang,Sheng Min Ge +1 more
TL;DR: In this article, a double closed loop controller is proposed which uses high-authority control (HAC) and low authority control (LAC) to guarantee the speed of response and steady-state error for a good performance.
References
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Book
Applied Nonlinear Control
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).
Journal ArticleDOI
A survey of models, analysis tools and compensation methods for the control of machines with friction
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.
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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
Robust adaptive numerical compensation for friction and force ripple in permanent-magnet linear motors
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.