Adaptive Compensation of Friction Forces with Differential Filter

In this paper, we design an adaptive estimator for the nonlinear dynamic friction force when the output is the position. To begin with, a velocity estimator is proposed based on the adaptive identification method. Then, an acceleration estimator is proposed with the non-passifiable adaptive schemes. Finally, the proposed acceleration estimator is applied to the estimation of friction forces. Numerical examples are given to illustrate the performance of the estimator in the case of the viscous friction model, the Coulomb friction model, and the LuGre model.

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“…In the viscous friction model, the friction is given by (11) where . The initial conditions are selected as…”

Section: Viscous Friction Modelmentioning

confidence: 99%

“…In estimating the friction forces, the differential filter is applicable to estimate the velocity with the position measurements. Using the adaptive differential filter, we designed adaptive compensator for linear and nonlinear friction models [11]. These approaches are based on the nonlinear friction model.…”

Section: Introductionmentioning

confidence: 99%

Nonmodel-based estimation of friction forces with acceleration estimator

Mitsunaga

Matsuo

2008

2008 SICE Annual Conference

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“…9 and Mitsunaga and Matsuo. 10 In Zhang et al., 9 velocity estimation was obtained by varying the sampling period of encoder counts, depending on the actuator velocity. In Mitsunaga and Matsuo, 10 an adaptive differential filter for velocity estimation is presented.…”

Section: Introductionmentioning

confidence: 99%

Friction compensation using Coulomb friction model with zero velocity crossing estimator for a force controlled model in the loop suspension test rig

Eamcharoenying

Hillis

Darling

2015

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a method of friction compensation for a linear electric motor in a model in the loop suspension test rig. The suspension consists of a numerically modeled spring and damper, with inputs of suspension motion. The linear motor is force controlled using a force sensor to track the output of the numerical model. The method uses a Coulomb friction model and applies a feedforward step signal when velocity zero crossing occurs. Velocity zero crossing estimation is achieved using an algorithm based on measured feedback velocity and force. Experimental results indicate reduction of force tracking error caused by Coulomb friction leading to improved test rig accuracy.

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“…In [4] velocity estimation was obtained by varying the sampling period of encoder counts, depending on the actuator velocity. In [5] an adaptive differential filter for velocity estimation is presented.…”

Section: Introductionmentioning

confidence: 99%

“…Haptic interface devices with force feedback are required to transmit a force towards a user who is physically controlling the device motion. Here precise force control in the presence of motion disturbance is needed for transparent force rendering [5,6]. In these studies a force sensor is used for force feedback as it gives a more direct, reliable and accurate reading of force compared to the estimation of force from motor current.…”

Section: Introductionmentioning

confidence: 99%