Compensation and Estimation of Friction by Using On-Line Input Estimation Algorithm

Abstract

In this paper, a compensation method of nonlinear friction using on-line input estimation (IE) method is developed. To illustrate the validity and performance of the proposed algorithm applied to positioning system, comparisons with the results using the Gomonwattanapanich method and robustness analysis are performed. The simulation result shows that the estimated friction torque does not need any assumption in the pattern of friction model in advance, the proposed algorithm has consistent robustness to diverse friction characteristics, and the method can significantly improve the performance of a control system.

Study on the friction torque test and identification algorithm for gimbal axis of an inertial stabilized platform

“…., N. Then the angular velocity ! i and driven torque T f!i of motor can be calculated from equation (12). With enough experiment data, the Stribeck curve and the value of T s , T c , B , !…”

“…Therefore, it is important to solve the problem of modeling and compensation of friction torque of inertial platform control system. [12][13][14][15] The friction model of inertial platform has been studied in various papers. A lot of research results have offered great help for the compensation algorithm design of inertial platform control system, but most of them are simply based on the coulomb friction or sliding friction, without taking the torque ripple effect on parameter identification.…”

“…The tenth step is fitting the Stribeck curve and to get T s , T c , B , and ! i values by the nonlinear least squares method on the base of equation (12) and Matlab curve fitting toolbox.…”