Real-time identification of the friction coefficient of a rolling guided high dynamic linear motor

To fully exploit the high dynamic and accurate positioning capabilities of linear synchronous motors, it is necessary to consider the friction components between the motor and guiding element. To compensate the rolling friction of a rolling guided high dynamic linear motor during system operation, a computationally efficient online parameter estimation algorithm is developed. The algorithm can estimate the friction coefficient with only 10 multiplications and 6 additions per iteration. No additional memory for the storing of the input- and output-vector is needed. The friction force is counteracted by an inner control loop. This is based on an observer based state space controller implemented on a DSP-system at a relatively high sampling frequency of 10 kHz