Paper Info
Title
Friction Modeling and Compensation of Servomechanical Systems With Dual-Relay Feedback Approach
Abstract
The application of a dual-relay feedback approach toward the identification of a model of servomechanical system will be presented in this paper. The model will capture the linear dynamics of the system, as well as the frictional forces affecting the system, through a comprehensive friction model that includes static friction, Coulomb friction, viscous friction, and the boundary lubrication velocity. This friction model is able to adequately describe the friction property when the servo system runs under both low- and high-velocity modes. Properties of the oscillations induced under the dual relay will be presented, based on which insights for the selection of relay parameters can be drawn. A systematic set of procedures to derive all the parameters of the model will be furnished. The model will be directly useful in the design of the feedback controller and feedforward friction compensator. Results from the simulation and experiment will be presented to illustrate the practical appeal of the proposed method.
Year
DOI
Venue
2009
10.1109/TCST.2008.2006905
IEEE Trans. Contr. Sys. Techn.
Keywords
Field
DocType
Friction,Feedback,Relays,Automatic control,Tuning,Control systems,Lubrication,Servomechanisms,Adaptive control,Limit-cycles
Lubrication,Describing function,Control theory,Control engineering,Servomechanism,Control system,Adaptive control,Stiction,System identification,Mathematics,Feed forward
Journal
Volume
Issue
ISSN
17
6
1063-6536
Citations 
PageRank 
References 
5
0.57
5
Authors
3
Name
Order
Citations
PageRank
Si-Lu Chen18915.74
Kok Kiong Tan292399.57
Su-Nan Huang350561.65