Decomposition-based friction compensation of mechanical systems

被引：75

作者：

Liu, G ^{[1
]}

机构：

[1] Ryerson Polytech Univ, Dept Engn Mech, Sch Aerosp Engn, Toronto, ON M5B 2K3, Canada

来源：

MECHATRONICS | 2002年 / 12卷 / 05期

基金：

加拿大自然科学与工程研究理事会;

关键词：

friction modeling; friction compensation; decomposition-based control; adaptive control; robust control;

D O I：

10.1016/S0957-4158(01)00010-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a linear parametric friction model is formulated by linearizing a nonlinear empirical friction model in parameters. A proposed decomposition-based control design framework is applied to synthesize the friction compensation scheme. A separate compensator is designed for each type of friction utilizing the most suitable control technique. The nominal friction is compensated by feed forward, An adaptive compensator is derived to compensate for parametric unmodeled friction with unknown but constant parameters, and a robust compensator is used to deal with friction model parameter variations. as well as non-parametric unmodeled friction. The combination of the compensators yields the overall compensation scheme. Adaptive and robust compensators complement each other in compensating the effects of model uncertainties. The analytical and simulation studies have confirmed the efficiency of the proposed friction compensation method. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：755 / 769

页数：15

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