Title :
Fuzzy modeling of LuGre-type friction
Author :
Kabzinski, Jacek ; Jastrzebski, Marcin
Author_Institution :
Inst. of Autom. Control, Lodz Univ. of Technol., Lodz, Poland
Abstract :
A new modeling technique leading to simple and reliable dynamic model of friction is proposed. The model may be applied for friction compensation in the electric drive control algorithms. The model is based on the fuzzy approximation of the coefficient influencing the internal state variable dynamics. The data for fuzzy modelling are collected during steady-state operation of the drive and the remaining parameters are tuned (in a batch mode or on-line) during dynamic test runs of the drive.
Keywords :
approximation theory; compensation; dynamic testing; electric drives; friction; fuzzy set theory; machine control; servomechanisms; LuGre-type friction; dynamic test runs; electric drive control algorithms; friction compensation; friction dynamic model; fuzzy approximation; fuzzy modeling; internal state variable dynamics; servo control; steady-state operation; Control systems; Data models; Force; Friction; Robots; friction; fuzzy modeling; modeling; servo control;
Conference_Titel :
Cybernetics (CYBCONF), 2015 IEEE 2nd International Conference on
Conference_Location :
Gdynia
Print_ISBN :
978-1-4799-8320-9
DOI :
10.1109/CYBConf.2015.7175971
