Real-time identification of the friction coefficient of a rolling guided high dynamic linear motor

To fully exploit the high dynamic and accurate positioning capabilities of linear synchronous motors, it is necessary to consider the friction components between motor and guiding element. To compensate the rolling friction of a rolling guided high dynamic linear motor during system operation, a computationally efficient on-line parameter estimation algorithm is developed here. The algorithm can estimate the friction coefficient with only IO multiplications and 6 additions per iteration. No additional memory fbr the storing of the input- and output-vector is needed The friction force is counteracted by an inner control loop. This is based on an observer based state space controller implemented on a DSP-system at a relatively high sampling frequency of 10 kHz.