Friction compensation using Coulomb friction model with zero velocity crossing estimator for a force controlled model in the loop suspension test rig

被引:5
|
作者
Eamcharoenying, Pooh [1 ]
Hillis, Andy [1 ]
Darling, Jos [1 ]
机构
[1] Univ Bath, Dept Mech Engn, Bath BA2 7AY, Avon, England
关键词
Force control; friction compensation; permanent-magnet linear motor; model in the loop (MIL); substructuring; hybrid experimental; numerical testing; MAGNET LINEAR MOTORS; ADAPTIVE COMPENSATION; DISTURBANCE-OBSERVER; SYSTEM; TABLE;
D O I
10.1177/0954406215592052
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This paper presents a method of friction compensation for a linear electric motor in a model in the loop suspension test rig. The suspension consists of a numerically modeled spring and damper, with inputs of suspension motion. The linear motor is force controlled using a force sensor to track the output of the numerical model. 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. Experimental results indicate reduction of force tracking error caused by Coulomb friction leading to improved test rig accuracy.
引用
收藏
页码:2028 / 2045
页数:18
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