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
A High-Precision Motion Control Based on a Periodic Adaptive Disturbance Observer in a PMLSM
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.
Journal ArticleDOI
Modeling and Compensation of Ripples and Friction in Permanent-Magnet Linear Motor Using a Hysteretic Relay
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.
Journal ArticleDOI
Intelligent Friction Compensation: A Review
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.
Journal ArticleDOI
Inertia and Friction Estimation of a Velocity-Controlled Servo Using Position Measurements
Ruben Garrido,Antonio Concha +1 more
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.
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.
References
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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.
Journal ArticleDOI
Friction identification of ball-screw driven servomechanisms through the limit cycle analysis
Min-Seok Kim,Sung-Chong Chung +1 more
TL;DR: In this article, a nonlinear friction model including static, Coulomb, and viscous friction as well as Stribeck effect is formulated by using describing functions and the friction elements are estimated through the limit cycle analysis in a velocity control loop.
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Combined PID and adaptive nonlinear control for servo mechanical systems
TL;DR: In this paper, a robust control method for servo mechanical systems, based on a mixed PID/adaptive algorithm, is presented, which can cope with strong nonlinearities in the system while still using the PID control structure which is well known to many control engineers.
Journal ArticleDOI
Two-Layer Binary Tree Data-Driven Model for Valve Stiction
TL;DR: A new data-driven model, with a simple two-layer binary tree logic structure is proposed, which can cope with expanded types of stiction patterns, including some special cases such as linear and pure deadzone.
Journal ArticleDOI
Describing function approximation of a two-relay system configuration with application to Coulomb friction identification
Alina Besançon-Voda,Petr Blaha +1 more
TL;DR: In this paper, the use of describing function approximation for identifying a relay nonlinearity of a plant was presented, where the inherent relay models Coulomb friction while the other relay controls the system's output and produces limit cycles.