Dry friction: Modelling and adaptive compensation

被引：0

作者：

Vau, Bernard ^{[1
]}

de Larminat, Philippe ^{[2
]}

机构：

[1] IXBLUE SAS, Control Syst Dept, Bonneuil Sur Marne, France

[2] Ecole Cent, Nantes, France

来源：

2015 19TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2015年

关键词：

Dry friction compensation; Coulomb effect; Stiebeck effect; feedback linearization; adaptive control; mechatronics; robotics;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an innovative dry friction model describing the Coulomb and Striebeck effects on a mechanical system. This model has the particularity of relying not only on the mechanical system velocity but also on its driving force. A compensation control structure providing feedback linearization is derived from the said model, with an additional adaptive control scheme guaranteeing efficient friction compensation in case of unknown or variant Coulomb parameter. Experiments carried out on a servo-system confirm the relevance of the proposed approach.

引用

页码：260 / 265

页数：6

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