Relay-assisted friction modeling technique

Author

Tan, K.K. ; Lee, T.H. ; Xie, Y. ; Tang, K.Z.

Author_Institution

Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore

Volume

14

fYear

2002

fDate

2002

Firstpage

89

Lastpage

94

Abstract

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.

Keywords

compensation; feedback; friction; relay control; servomechanisms; three-term control; Coulomb friction components; PID feedback motion controller; dual relay feedback; dynamical model; feedforward friction compensator; frictional effect modeling; relay-assisted friction modeling technique; servomechanisms; viscous friction components; Automatic control; Force feedback; Friction; Least squares approximation; Limit-cycles; Mathematical model; Motion control; Relays; Servomotors; Tuning;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2002 Proceedings of the 5th Biannual World

Print_ISBN

1-889335-18-5

Type

conf

DOI

10.1109/WAC.2002.1049426

Filename

1049426