通过精确的四参数摩擦建模和补偿改善伺服机械系统的跟踪性能

2007 14th International Conference on Mechatronics and Machine Vision in Practice Pub Date : 2007-12-01 DOI:10.1109/MMVIP.2007.4430709

Silu Chen, K. Tan, Sunan Huang

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引用次数: 5

摘要

本文提出了一种系统的方法，通过双通道继电器反馈装置的极限环实验来识别摩擦模型的综合版本，并在三维笛卡尔机器人系统上进行了演示。该摩擦模型包含静摩擦、库仑摩擦和粘滞摩擦，具有斯蒂贝克效应，可以描述伺服系统在低速和高速模式下的摩擦行为。双通道继电器反馈系统的极限环特性用于仔细调整继电器增益，使系统在高速或低速模式下运行。采用一组显式公式直接计算模型参数。仅通过一维优化估计边界润滑速度。摩擦补偿实验验证了所识别模型的准确性和所提方法的有效性。

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Improvement of tracking performance of servomechanical system by an accurate four-parameter friction modelling and compensation

In this paper, a systematic procedure to identify a comprehensive version of friction model via limit cycle experiments using dual-channel relay feedback apparatus is presented and demonstrated on a 3-D Cartesian robotic system. This friction model, which contains static, Coulomb and viscous friction with Sticbeck effect, can describe the friction behaviour when the servo system operates at both low and high velocity mode. The limit cycle properties of the dual-channel relay feedback system are used for careful tuning of relay gains to run the system on either high or low velocity modes. Sets of explicit formulas are applied for direct computation of model parameters. Only the boundary lubrication velocity is estimated via one-dimensional optimisation. The friction compensation experiment shows the accuracy of the identified model and the effectiveness of proposed method.

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来源期刊

2007 14th International Conference on Mechatronics and Machine Vision in Practice

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