An identification method for static and coulomb friction coefficients

In the research of various energy technologies, the direct-drive volume control flange-type rotary vane steering gear (DDVC-FRVSG) has become a promising component for controlling the course and posture of a vessel because of its superior energy-saving performance. However, nonlinear friction limits the ability of the DDVC-FRVSG to satisfy the efficient energy requirements of the vessel. This study proposes compensation methods to suppress nonlinear friction, such that the rudder can be efficiently controlled. Based on the principle of the DDVC-FRVSG, we establish a mathematical model and transfer function of the steering gear system along with a mathematical model of the impact of nonlinear friction on the rudder system. A friction model-based method using the integral back-stepping adaptive control strategy is proposed to suppress nonlinear friction, and both the models are studied theoretically and through simulation. Taking the no-compensation state as a benchmark, our measured results by prototype testing reveal that the method can compensate for nonlinear friction, achieving up to 73.08 % better performance on average and reducing the output power of the driving motor by 36.39 % on average. The findings of this research will contribute to the energy-saving performance and efficient energy requirement of the DDVC-FRVSG system.

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“…Establishing the value of expectation of ω as ω d , V 1 ≤ 0, and ω d are given by (35) to ensure that the system remains stable.…”

Section: Compensation Methodsmentioning

confidence: 99%

Energy-Saving Nonlinear Friction Compensation Method for Direct Drive Volume Control Flange-Type Rotary Vane Steering Gear

Liang

Wang

2019

IEEE Access

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“…These characteristics are defined by a set of parameters that are in some cases unmeasurable and in other cases hard to be quantified. Hence, several identification techniques of friction have been proposed in the literature (Altpeter, 1999;Borsotto, Godoy, Beauvois, & Devaud, 2009;Lampaert, Al-Bender, & Swevers, 2004). Most of these methods only allow estimating friction coefficients considering that the system parameters are totally known.…”

Section: Motivationmentioning

confidence: 99%

Modelling, simulation and identification of an engine air path electromechanical actuator

Kebairi¹,

Becherif²,

Bagdouri³

2015

Control Engineering Practice

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“…Among these control strategies, the adaptive modelbased friction compensation technique is found to be an effective solution to friction compensation by using explicit friction models and be present in a growing number of industrial applications. Thus, to obtain the accurate friction model is very critical to the success of friction compensation [4].…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of harmonic drive with parameter varying friction using structurally dynamic wavelet network

Tadayoni

Xie

Gordon

2011

Int. J. Control Autom. Syst.

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In this paper, an adaptive controller with structurally dynamic wavelet network is developed for a harmonic drive subject to parameter varying friction. The control architecture integrates a proportional controller, a feedback adaptive component and sliding component to adaptively compensate for the friction to achieve accurate position tracking. Global asymptotic stability of the algorithm is proved by using Lyapunov function. In parallel to the adaptive controller, a fuzzy reconfiguration scheme is devised to change the structure of the network along with weights updating to improve the system tracking performance and robustness. Experimental tests on a harmonic drive manipulator verify the effectiveness of the proposed control method.

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An identification method for static and coulomb friction coefficients

Cited by 12 publications

References 2 publications

Energy-Saving Nonlinear Friction Compensation Method for Direct Drive Volume Control Flange-Type Rotary Vane Steering Gear

Energy-Saving Nonlinear Friction Compensation Method for Direct Drive Volume Control Flange-Type Rotary Vane Steering Gear

Modelling, simulation and identification of an engine air path electromechanical actuator

Adaptive control of harmonic drive with parameter varying friction using structurally dynamic wavelet network

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