Frequency domain based nonlinear feed forward control design for friction compensation

Rijlaarsdam, David; Nuij, Pwjm Pieter; Schoukens, Joannes; Steinbuch, M Maarten

doi:10.1016/j.ymssp.2011.08.008

Cited by 48 publications

(36 citation statements)

References 26 publications

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“…Analysis of the HJI (22) for system (20) can show that disturbance attenuation is also improved with the simple feedback (19), by choosing K d high enough. Although a higher feedback gain improves disturbance attenuation, a very high gain for K d gives a slow transient response, i.e., it results in an overdamped system.…”

Section: Disturbance Attenuation Of the Inverse Notch Filtermentioning

confidence: 99%

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Notch filters for port-Hamiltonian systems

Dirksz

Scherpen

Schaft

et al. 2012

2012 American Control Conference (ACC)

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Abstract-In this paper a standard notch filter is modeled in the port-Hamiltonian framework. By having such a portHamiltonian description it is proven that the notch filter is a passive system. The notch filter can then be interconnected with another (nonlinear) port-Hamiltonian system, while preserving the overall passivity property. By doing so we can combine a frequency-based control method, the notch filter, with the nonlinear control methodology of passivity-based control.

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Section: Disturbance Attenuation Of the Inverse Notch Filtermentioning

confidence: 99%

“…Frequency can then be included into the study of internal stability and disturbance attenuation of power systems. [19] provides a frequency domain perspective on feedforward friction compensation of nonlinear single-input single-output (SISO) systems. This paper describes a standard notch filter in the portHamiltonian form.…”

Section: Introductionmentioning

confidence: 99%

Notch filters for port-Hamiltonian systems

Dirksz

Scherpen

Schaft

et al. 2012

2012 American Control Conference (ACC)

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“…Experimental results indicate that the roundness error has been considerably reduced. For the other implementation issue, authors in [20] gave out a frequency domain based method for controller design in nonlinear system. This approach optimally designs a feed-forward friction compensator.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of FFPIV Scheme for Closed Loop Motion Controller

Ngo¹,

Choi²,

Kim³

2014

ICA

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To satisfy the requirements of motion control for industrial machine, a multi-axis motion controller based on DSP is developed in this paper. The motion controller consists of DSP which plays a main role in this design; DPRAM to make sure the rapid and reliable communication with host; FPGA to handle the task of address decoder and receiving feed-back encoder signal; and several peripheral logic circuits. In the part of hardware design, overall structure of motion control system is presented. Then, the Feed-Forward Proportional-Integral-Velocity (FFPIV) scheme which introduces KV in term of velocity loop to achieve the accurate, smooth and real-time response is proposed in the software developing part. The experiment data are carried out to indicate that this motion controller has advantages of superior performance and highly machining precision.

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“…Finally, methods that model only a relevant subset of nonlinear effects in the frequency domain exist. An example of such method are the higher order sinusoidal input describing functions [Nuij et al, 2006, Rijlaarsdam et al, 2011a, which are recently shown to be especially suitable for optimal pre-compensator design for nonlinear systems [Rijlaarsdam et al, 2011b]. In the sequel, two methods are considered in particular: the Generalized Frequency Response Functions (GFRF) and the Higher Order Sinusoidal Input Describing Functions (HOSIDF).…”

Section: Introductionmentioning

confidence: 99%

“…The HOSIDFs provide a natural extension of the widely used sinusoidal input describing function when nonlinear dynamics are present. Due to their straightforward identification and interpretation, the HOSIDFs enable on-site testing during system design, characterization of existing systems [Nuij et al, 2008] and nonlinear controller design [Rijlaarsdam et al, 2011b]. …”

Section: Introductionmentioning

confidence: 99%

New Connections Between Frequency Response Functions for a Class of Nonlinear Systems*

Rijlaarsdam

Oomen

Nuij

et al. 2012

IFAC Proceedings Volumes

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The notion of frequency response functions has been generalized to nonlinear systems in several ways. However, a relation between different approaches has not yet been established. In this paper, frequency domain representations for nonlinear systems are uniquely connected. Specifically, by means of novel analytical results, the generalized frequency response function (GFRF) and the higher order sinusoidal input describing function (HOSIDF) for polynomial Wiener-Hammerstein systems are explicitly related. Necessary and sufficient conditions for this relation to exist and results on uniqueness and equivalence of the HOSIDF and GFRF are provided. Finally, a numerically efficient computational procedure is presented that allows to compute the GFRF from the HOSIDF and vice versa.

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Frequency domain based nonlinear feed forward control design for friction compensation

Cited by 48 publications

References 26 publications

Notch filters for port-Hamiltonian systems

Notch filters for port-Hamiltonian systems

Design and Implementation of FFPIV Scheme for Closed Loop Motion Controller

New Connections Between Frequency Response Functions for a Class of Nonlinear Systems*

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