DocumentCode
729412
Title
Fuzzy modeling of LuGre-type friction
Author
Kabzinski, Jacek ; Jastrzebski, Marcin
Author_Institution
Inst. of Autom. Control, Lodz Univ. of Technol., Lodz, Poland
fYear
2015
fDate
24-26 June 2015
Firstpage
422
Lastpage
426
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Cybernetics (CYBCONF), 2015 IEEE 2nd International Conference on
Conference_Location
Gdynia
Print_ISBN
978-1-4799-8320-9
Type
conf
DOI
10.1109/CYBConf.2015.7175971
Filename
7175971
Link To Document