Compensation and Estimation of Friction by Using Extended Kalman Filter

Gomonwattanapanich, O.; Pattanapukdee, Adual; Mongkolwongrojn, Mongkol

doi:10.1109/sice.2006.315216

Cited by 18 publications

(10 citation statements)

References 2 publications

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“…m ω is the rotor mechanical angular speed; J is the system moment of inertia; B is rotor damping; 1 T is the disturbance torque (main part is friction torque).…”

Section: A Motor Modelmentioning

confidence: 99%

“…Figure 4. Equivalent friction observer system In order to ensure the physically implementation of the friction disturbance, the relative degree of ( ) Q s (the degree of the denominator minus the degree of the molecule) must be greater than or equal to the relative degree of the object's nominal model 1 Where q n is the degree of ( ) Q s , q p is the relative degree of ( ) Q s , q p must be greater than or equal to the relative degree of the transfer function of the object , that is, q p >=2. In this system, ( ) Q s is expressed as: …”

Section: Design Of Friction Disturbance Observermentioning

confidence: 99%

“…1 m x x ω = = is the angular velocity of the state variables; 1 T is the disturbance torque (main part is friction torque); J is the system moment of inertia, B is rotor damping; a is current loop gain.…”

Section: Design Of Sliding Mode Controllermentioning

confidence: 99%

“…Because of its complexity and difficulty to model, the resulting steady state error, jitter and limit cycles often degrade the performance of servo system, especially in the low speed range of servo system [1].…”

Section: Introductionmentioning

confidence: 99%

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Sliding Mode Control with Observer for PMSM Based on Stribeck Friction Model

Dong

Yao

Chai

2014

2014 Seventh International Symposium on Computational Intelligence and Design

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Performance of a low-speed servo system may deteriorate due to the influence of ripple torque, measurement noise and friction torque, etc.. Among them nonlinear friction is the main factor influencing the low-speed performance of permanent magnet synchronous motor (PMSM). A dualclosed-loop model of PMSM including measured Stribeck friction disturbance factors is established and the simulation results show that friction can lead to "dead zone" of speed tracking and "flat top" of position tracking with traditional PID algorithm. A method of Sliding Mode Control (SMC) combined with friction observer is proposed and the results show that it can improve tracking precision and robust performance of the system effectively.

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“…m ω is the rotor mechanical angular speed; J is the system moment of inertia; B is rotor damping; 1 T is the disturbance torque (main part is friction torque).…”

Section: A Motor Modelmentioning

confidence: 99%

Section: Design Of Friction Disturbance Observermentioning

confidence: 99%

Section: Design Of Sliding Mode Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Sliding Mode Control with Observer for PMSM Based on Stribeck Friction Model

Dong

Yao

Chai

2014

2014 Seventh International Symposium on Computational Intelligence and Design

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“…In [14], an adaptive backstepping control method based on the LuGre model is put forward to decrease the influences of friction on control precision of a three-axis ISP. In [15], the extended Kalman Filter (EKF) is used to compensate friction disturbance for a second order system with low-pass PD controller. In [16], a robust adaptive output feedback controller is applied to a cart-crane system.…”

Section: Introductionmentioning

confidence: 99%

Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System

Zhou

Yuan

Zhao

et al. 2016

Sensors

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A compound control scheme is proposed to achieve high control performance for a two-axis inertially stabilized platform (ISP) with multi-sensors applied to an unmanned helicopter (UH)-based airborne power line inspection (APLI) system. Compared with the traditional two closed-loop control scheme that is composed of a high-bandwidth rate loop and a lower bandwidth position loop, a new current loop inside rate loop is particularly designed to suppress the influences of voltage fluctuation from power supply and motor back electromotive force (BEMF) on control precision. In this way, the stabilization accuracy of the ISP is greatly improved. The rate loop, which is the middle one, is used to improve sensor’s stability precision through compensating for various disturbances. To ensure the pointing accuracy of the line of sight (LOS) of multi-sensors, the position loop is designed to be the outer one and acts as the main feedback path, by which the accurate pointing angular position is achieved. To validate the scheme, a series of experiments were carried out. The results show that the proposed compound control scheme can achieve reliable control precision and satisfy the requirements of real APLI tasks.

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