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Static friction modeling and identification for standard mechatronic systems
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
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)
Abstract [en]

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.
National Category
Engineering and Technology
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:umu:diva-113790ISBN: 978-91-7063-564-9OAI: oai:DiVA.org:umu-113790DiVA: diva2:890163
Conference
Mechatronics 2014
Available from: 2015-12-31 Created: 2015-12-31 Last updated: 2015-12-31

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Fodor, SzabolcsFreidovich, Leonid
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