Analysis of a two-relay system configuration with application to Coulomb friction identification

被引:20
作者
Besançon-Voda, A
Besançon, G
机构
[1] ENSIEG, UJF,INPG, CNRS, Lab Automat Grenoble, F-38402 St Martin Dheres, France
[2] Univ Rome La Sapienza, Rome, Italy
关键词
relay; switching time; limit cycle; stability analysis; identification; Coulomb friction;
D O I
10.1016/S0005-1098(99)00049-7
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents an analysis of a class of two-relay feedback systems, motivated by the idea of estimating a relay-type nonlinearity on the feedback path of a plant by adding another relay. The time response of the resulting system is first analyzed, and stability conditions for possible limit cycles are then proposed using Poincare's method. On this basis, a simple procedure for estimating the unknown value (e.g. Coulomb friction) of the relay on a plant feedback, by a closed-loop experiment, is finally presented and illustrated on both simulated and real-time examples. (C) 1999 Elsevier Science Ltd. All right reserved.
引用
收藏
页码:1391 / 1399
页数:9
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