Static friction modeling and identification for standard mechatronic systems
2014 (English)In: Proceedings of the 14th Mechatronics Forum International Conference Mechatronics 2014 / [ed] Leo J De Vin, Jorge Solis, Karlstad, Sweden: Karlstads universitet, 2014. , 657 p., 2014, 30-36 p.Conference paper (Refereed)
In this paper we study two approaches of static friction identification in a pendulum system using specific controlled motions. We use two models: the well-known Tustin model and a polynomial model. Both models are identified using the least squares approximation method. For the identification generated point-to-point trajectories are designed in such a way that the closed-loop system guaranties constant velocity and torque regimes needed for capturing the friction points.
Simple nominal controllers (PI, PD, PID) are used in the closed-loop during the friction measurement process. A model based compensation method is implemented for tracking improvement. The identification and compensation methods used in this paper can be implemented in a straightforward way for precision improvement of industrial mechatronic systems.
Place, publisher, year, edition, pages
Karlstad, Sweden: Karlstads universitet, 2014. , 657 p., 2014. 30-36 p.
Engineering and Technology
Research subject Automatic Control
IdentifiersURN: urn:nbn:se:umu:diva-113790ISBN: 978-91-7063-564-9OAI: oai:DiVA.org:umu-113790DiVA: diva2:890163