Identification of Friction Elements through Limit Cycle Analysis
نویسندگان
چکیده
A friction identification method in a frequency domain is proposed for a precision servomechanism. A nonlinear friction model including static, Coulomb, and viscous friction as well as Stribeck effect is considered in this paper. Friction models are formulated by using describing functions. Friction elements are estimated through the limit cycle analysis in a velocity control loop. A Butterworth filter is incorporated into the feedback loop to increase the accuracy of the friction identification process. A model-based friction compensator is applied as a feedforward controller to compensate for the nonlinear characteristics and to verify the effectiveness of the proposed identification method.
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