DocumentCode
261687
Title
Friction compensation for a force controlled electric actuatorwith unknown sinusoidal disturbance motion
Author
Eamcharoenying, Pooh ; Hillis, Andy ; Darling, Jos
Author_Institution
Dept. of Mech. Eng., Univ. of Bath, Bath, UK
fYear
2014
fDate
9-11 July 2014
Firstpage
331
Lastpage
336
Abstract
This paper presents a method of friction compensation for a linear electric motor subjected to unknown sinusoidal disturbance motions. The method uses a Coulomb friction model and applies a feedforward step signal when velocity zero crossing occurs. Velocity zero crossing estimation is achieved using an algorithm based on measured feedback velocity and force.
Keywords
electric actuators; feedback; force control; friction; linear motors; machine control; permanent magnet motors; Coulomb friction model; feedback velocity; feedforward step signal; force controlled electric actuator; friction compensation; linear electric motor; sinusoidal disturbance motion; velocity zero crossing estimation; Acceleration; Actuators; Estimation; Force; Friction; Sensors; Tracking; force control; friction compensation; permanent-magnet linear motor;
fLanguage
English
Publisher
ieee
Conference_Titel
Control (CONTROL), 2014 UKACC International Conference on
Conference_Location
Loughborough
Type
conf
DOI
10.1109/CONTROL.2014.6915162
Filename
6915162
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