Author:
Shi Qi, ,Ouyang Liyu,She Jinhua,Xu Li,Imani Junya,Ohyama Yasuhiro, , ,
Abstract
A method of compensating for Stribeck-type nonlinear friction torque for a two-mass mechatronic system has been devised based on the equivalent-inputdisturbance (EID) approach. The nonlinearity in the system is treated as an input-dependent disturbance, and an EID estimator is designed that estimates it. The incorporation of the estimate into the control input compensates for the nonlinearity. Simulation results demonstrate the validity of the method and show that the compensation accuracy is closely related to the time constant of the low-pass filter.
Publisher
Fuji Technology Press Ltd.
Subject
Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction
Reference12 articles.
1. B. Armstrong-Hélouvry, P. Dupont, and C. C. DeWit, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction,” Automatica, Vol.30, No.7, pp. 1083-1138, 1994.
2. E. J. Berger, “Friction modeling for dynamic system simulation,” Appl Mech Rev, Vol.55, No.6, pp. 535-577, 2002.
3. A. Vanossi, N. Manini, M. Urbakh, S. Zapperi, and E. Tosatti, “Modeling friction: From nanoscale to mesoscale,” Rev. Mod. Phys., Vol.85, pp. 529-552, 2013.
4. I. Virgala and M. Kelemen, “Experimental Friction Identification of a DC Motor,” Int. J. of Mechanics and Applications, Vol.3, pp. 26-30, 2013.
5. R. Dhaouadi, “Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation,” J. of Robotics and Mechatronics, Vol.16, pp. 388-396, 2004.
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献