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Research Papers: Friction & Wear

Compensation and Estimation of Friction by Using On-Line Input Estimation Algorithm

[+] Author and Article Information
Horng-Yuan Jang

Associate Professor
Department of Business Administration,
National Quemoy University,
Kinmen 89250, Taiwan
e-mail: hyjang@nqu.edu.tw

Yong-Shun Luo

Lecturer
Department of Business Administration,
National Quemoy University,
Kinmen 89250, Taiwan
e-mail: lou@nqu.edu.tw

1Corresponding author.

Contributed by the Tribology Division of ASME for publication in the JOURNAL OF TRIBOLOGY. Manuscript received August 30, 2013; final manuscript received November 5, 2013; published online January 20, 2014. Assoc. Editor: George K. Nikas.

J. Tribol 136(2), 021605 (Jan 20, 2014) (11 pages) Paper No: TRIB-13-1177; doi: 10.1115/1.4026063 History: Received August 30, 2013; Revised November 05, 2013

In this paper, a compensation method of nonlinear friction using on-line input estimation (IE) method is developed. To illustrate the validity and performance of the proposed algorithm applied to positioning system, comparisons with the results using the Gomonwattanapanich method and robustness analysis are performed. The simulation result shows that the estimated friction torque does not need any assumption in the pattern of friction model in advance, the proposed algorithm has consistent robustness to diverse friction characteristics, and the method can significantly improve the performance of a control system.

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Copyright © 2014 by ASME
Topics: Friction , Algorithms , Torque
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References

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Figures

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Fig. 1

The physical system of the plant

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Fig. 2

Block diagram of the control system

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Fig. 3

Estimated friction force for various desired trajectories: (a) sinusoidal waveform; (b) triangular waveform; and (c) square waveform

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Fig. 4

Plot of the velocity of system for various desired trajectories: (a) sinusoidal waveform; (b) triangular waveform; and (c) square waveform

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Fig. 5

Response of the system using NFC and WFC for various desired trajectories: (a) sinusoidal waveform; (b) triangular waveform; (c) square waveform; and (d) enlargement of section (d) in Fig. 5(c)

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Fig. 6

Comparison of estimated friction characteristics for various desired trajectories: (a) sinusoidal waveform; (b) triangular waveform; (c) square waveform; (d) enlargement of section (d) in Fig. 6(c), (w: −0.8 rad/s ∼ 0.8 rad/s); (e) enlargement of section (e) in Fig. 6(c); and (f) enlargement of section (f) in Fig. 6(c)

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Fig. 7

Plot of friction model for various values of friction parameters in the modified Tustin friction model. Solid line represents CV friction model, the dot-dashed line represents CVSL friction model, and the dotted line represents CVSH friction model.

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Fig. 8

Comparison of friction characteristics for tracking a sinusoidal waveform with various friction models in Fig. 7: (a) CV friction model; (b) CVSL friction model; and (c) CVSH friction model

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Fig. 9

Comparison of friction characteristics for tracking a triangular waveform with various friction models in Fig. 7: (a) CV friction model; (b) CVSL friction model; and (c) CVSH friction model

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Fig. 10

Comparison of friction characteristics for tracking a square waveform with various friction models in Fig. 7: (a) CV friction model; (b) CVSL friction model; and (c) CVSH friction model

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Fig. 11

Comparison of system responses for tracking various desired trajectories: (a) sinusoidal waveform; (b) triangular waveform; and (c) square waveform and under various friction models in Fig. 7

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