Relay-assisted friction modeling technique

In this paper, the application of a dual relay feedback approach towards modeling of frictional effects in servo-mechanisms is addressed. The friction model consists of Coulomb and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, the dynamical model of the servo-mechanical system call be obtained from the experiments. With the models, a PID feedback motion controller and a feedforward friction compensator can be automatically tuned.