Identification of a Dynamic Friction Model and Its Application in a Precise Tracking Control

Piasek, Joanna; Patelski, Radosław; Pazderski, Dariusz; Kozłowski, Krzysztof

doi:10.12700/aph.16.10.2019.10.6

Cited by 16 publications

(7 citation statements)

References 16 publications

(22 reference statements)

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“…In the experiments, we assume the influence of current control to be negligible and focus on the angular position control of the described system. To express the model of each telescope mount axis with the equation (1), we assign q to be the angular position of a joint, τ to the desired torque applied to the axis, while h m represents friction forces estimated according to the LuGre model [2] with parameter values identified in [16]. In the experiments, we only considered the vertical (lower) axis of the mount, while the horizontal one was stabilized in a fixed upward position.…”

Section: Simulation Resultsmentioning

confidence: 99%

ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison

Łakomy,

Patelski,

Pazderski

2020

Preprint

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Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The observation quality of total disturbance has a significant impact on the control error values, making room for a potential improvement of control system performance using different structures of ESO. In this article, we provide a quantitative comparison between the Luenberger and Astolfi/Marconi (AM) observers designed for three different extended state representations and utilized in the trajectory tracking ADR controller designed for a mechanical system. Included results were obtained in the simple simulation case, followed by the experimental validation on the main axis of a telescope mount.

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Section: Simulation Resultsmentioning

confidence: 99%

ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison

Łakomy,

Patelski,

Pazderski

2020

Preprint

Self Cite

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“…A non-model-based extended state reduced order observer (ESO) with only first order derivatives has been developed for robot joint motion in [6]. Another ESO-based control approach can be found in [24]. Furthermore, the Extended Kalman-Bucy Filter (EKBF) has been used together with a dynamic friction model to observe the friction force under varying normal load conditions [27].…”

Section: Observer Based Compensationmentioning

confidence: 99%

Motor State Prediction and Friction Compensation for Brushless DC Motor Drives Using Data-Driven Techniques

Dasanayake,

Perera

2024

Preprint

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Friction compensation has become crucial for robust, dependable, and accurate position and velocity control of motor drives. Large position inaccuracies and vibrations caused by non-characterized friction may be amplified by stick-slip motion and limit cycles. In order to find the governing equations of motor dynamics, which also describe friction, this research applies two data-driven methodologies. Specifically, data obtained from a Brushless DC (BLDC) motor is subjected to the Sparse Identification of Nonlinear Dynamics with control (SINDYc) technique and low-energy data extraction from time-delayed coordinates of motor velocity to determine the underlying dynamics. Next, the identified nonlinear model was compared to a linear model without friction and a nonlinear model that contained the LuGre friction model. The optimal friction parameters for the LuGre model were determined using a nonlinear grey box model estimation approach using the collected data. The three validation datasets taken from the BLDC motor were then used to validate the resultant innovative nonlinear motor model with friction characteristics. Over 90% accuracy in predicting the motor states in all input excitation signals under consideration was demonstrated by the innovative model. Additionally, when compared to a system that was identical but used the LuGre model, a model-based feedback friction compensation technique demonstrated a relative improvement in performance.

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“…For this reason, it seems to be required to use new servo control techniques which are more robust to model uncertainties. The source of these uncertainties include the occurrence of a friction which is a nonstationary, nonlinear and hard to model phenomenon, see Piasek et al (2019). Another source of internal model disturbances is a limited knowledge of the mount inertial parameters and the influence of gravity resulting from the unbalance of the telescope and the attached instruments.…”

Section: Control Objectivesmentioning

confidence: 99%

High Efficiency Direct-drive Mount for Space Surveillance and NEO Applications

Krysiak

Pazderski

Kozłowski

et al. 2020

PASP

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The design, manufacturing and field tests of a new astronomical telescope mount are the main topics of this paper. The new robotic mount dedicated for 0.5 m class telescopes is the first mount developed, developed and produced as fully Polish concept by engineers and researchers representing the automation and robotics discipline (Poznań University of Technology) and astronomy (Nicolaus Copernicus Astronomical Centre of the Polish Academy of Sciences). The mount is an alt-azimuth fork-type design which allows tracking of typical astronomical targets (sidereal tracking) but also man made objects (satellite tracking). Thanks to a unique mechanical design based on direct drive motors and high precision encoders coupled with custom electronics and on-board software implementing modern control theory achievements it was possible to obtain very good trajectory tracking precision throughout the entire dynamic range defined by the user scenarios. Additionally, the used control algorithms are robust to some class of disturbances such as friction which in turn allows for very high precision tracking in a wide range of angular velocities—from quasi-static movements to high-velocity satellite tracking. The test-bed infrastructure of the system is located in a dedicated astronomical research laboratory at the Poznań University of Technology campus. Local, remote as well as automatic observations can be carried out in the facility.

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Identification of a Dynamic Friction Model and Its Application in a Precise Tracking Control

Cited by 16 publications

References 16 publications

ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison

ESO architectures in the trajectory tracking ADR controller for a mechanical system: a comparison

Motor State Prediction and Friction Compensation for Brushless DC Motor Drives Using Data-Driven Techniques

High Efficiency Direct-drive Mount for Space Surveillance and NEO Applications

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