{"title":"摩擦辨识新方法及其在倒立摆控制系统中的应用","authors":"M. Balcerzak","doi":"10.2478/mme-2018-0095","DOIUrl":null,"url":null,"abstract":"Abstract This text covers a novel method of friction identification for control systems. The friction function in the inverted pendulum model is described by means of a cubic polynomial. The method has been tested using the data recorded on a real inverted pendulum. It has been proven that the proposed cubic model offers the same level of accuracy as the Coulomb model. However, all the difficulties caused by Coulomb’s model discontinuity are omitted.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Novel Method of Friction Identification with Application for Inverted Pendulum Control System\",\"authors\":\"M. Balcerzak\",\"doi\":\"10.2478/mme-2018-0095\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract This text covers a novel method of friction identification for control systems. The friction function in the inverted pendulum model is described by means of a cubic polynomial. The method has been tested using the data recorded on a real inverted pendulum. It has been proven that the proposed cubic model offers the same level of accuracy as the Coulomb model. However, all the difficulties caused by Coulomb’s model discontinuity are omitted.\",\"PeriodicalId\":53557,\"journal\":{\"name\":\"Mechanics and Mechanical Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanics and Mechanical Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.2478/mme-2018-0095\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanics and Mechanical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2478/mme-2018-0095","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
Novel Method of Friction Identification with Application for Inverted Pendulum Control System
Abstract This text covers a novel method of friction identification for control systems. The friction function in the inverted pendulum model is described by means of a cubic polynomial. The method has been tested using the data recorded on a real inverted pendulum. It has been proven that the proposed cubic model offers the same level of accuracy as the Coulomb model. However, all the difficulties caused by Coulomb’s model discontinuity are omitted.
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