Relay-assisted friction modeling technique

被引：0
|
作者：
Tan, KK [1 ]
Lee, TH [1 ]
Xie, Y [1 ]
Tang, KZ [1 ]
机构：
[1] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
来源：
ROBOTICS, AUTOMATION AND CONTROL AND MANUFACTURING: TRENDS, PRINCIPLES AND APPLICATIONS | 2002年 / 14卷
关键词：
friction modeling; friction compensation; relay feedback;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 can be obtained from the experiments. With the models, a PID feedback motion controller and a feedforward friction compensator can be automatically tuned.
引用
收藏
页码：89 / 94
页数：6
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