Feed-forward friction observer (FFFO) for high-dynamic motion control

Ruderman, Michael; Bertram, Torsten

doi:10.1109/med.2012.6265772

Cited by 10 publications

(15 citation statements)

References 17 publications

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“…The feed-forward friction observer (FFFO), first proposed in (19) and elaborated in (11) , allows to combine both, the modelbased friction feed-forwarding and observer-based estimation of the friction-related disturbances. In the following, the applied FFFO is briefly summarized for convenience of the reader.…”

Section: Feed-forward Friction Observer (Fffo)mentioning

confidence: 99%

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Analysis of Linear Feedback Position Control in Presence of Presliding Friction

Ruderman

Iwasaki

2016

IEEJ Journal IA

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In various servo applications, the design of a precise positioning control constitutes a trade-off between the fast transient response and the short settling time for the required accuracy. Mostly, neither 'universal' control gains can be found to be equally suitable for both of these objectives. In this study, the design of a cascaded precise positioning control is analyzed in the presence of nonlinear friction. The nonlinear friction strongly impacts the reference settling and can deteriorate the positioning control performance. Two common cascaded structures, and that P-PI and PI-PI, are analyzed by exposing the closed-loop dynamics of the control system with friction in details. It is shown that a more 'traditional' integral control part is less useful when compensating for the nonlinear friction at the reference position settling. Furthermore, we show how the settling performance can be improved by applying a feed-forward friction observer. This can be included as a plug-in after designing the surrounding cascaded feedback control and without re-tuning. The proposed control strategy is evaluated experimentally on a standard industrial linear positioning axis, with a relatively high reference speed of +/−500 mm/s and narrow positioning error band of +/−0.01 mm.

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Section: Feed-forward Friction Observer (Fffo)mentioning

confidence: 99%

“…In the following, the applied FFFO is briefly summarized for convenience of the reader. For more details, however, we refer to (11) (19) . The unknown time-variant friction term f (t) can be assumed as an input disturbance so that the plant dynamics will be captured by…”

Section: Feed-forward Friction Observer (Fffo)mentioning

confidence: 99%

Analysis of Linear Feedback Position Control in Presence of Presliding Friction

Ruderman

Iwasaki

2016

IEEJ Journal IA

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“…Compared to other friction models, such as LuGre, GMS or 2SEP, the hybrid model has fewer parameters to adjust and a more simplified mathematical expression [13][14][15] . The friction torque is described as…”

Section: Mathematical Model Of Frictionmentioning

confidence: 99%

Nonlinear modeling of solar array drive system considering backlash and friction

Zhou

Gao

et al. 2015

2015 18th International Conference on Electrical Machines and Systems (ICEMS)

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In this paper, a novel nonlinear dynamic model of the solar array drive system (SADS) with spur gear train transmission is proposed considering backlash and friction, which is composed of servo motor, spur gear reducer, solar arrays and friction. The backlash effect of the spur gear reducer is modeled based on an alternate engagement mechanism, while the transmitted torque is defined via the use of a dead zone function. Friction moment in the SADS is described by the hybrid model including static friction, sliding friction and stribeck effect. Based on the above-mentioned model, the influence of backlash and friction on the velocity stability of motor in the SADS is investigated. This paper can provide a guideline for engineers to follow in the control design of solar array drive system.

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“…One of the pioneer works in [4] has applied the LuGre dynamic friction model arranged in feedback, while observing its dynamic state by means of the control error of surrounding linear control loop. This approach has inspired developing the former feedforward friction observer (FFFO) [5], which involves the two-state with elastoplasticity (2SEP) dynamic friction model [6], [7]. In [8], a trajectory control algorithm for nonlinear friction compensation has been proposed for table drive systems, which is also based on a disturbance observer combined with a dynamic friction model.…”

Section: Introductionmentioning

confidence: 99%

“…The basic idea of FFFO initially described in [5] is extended by an explicit formulation of observation function, which ensures a full cancelation of frictional disturbances at steady state. The friction disturbance quantity, which is observed using an ordinary disturbance observer, is taken to excite and to drive the dynamic friction state computed by the 2SEP friction model in feedforwarding.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control of Motor Drives Using Feedforward Friction Observer

Ruderman

2014

IEEE Trans. Ind. Electron.

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In motor drives, just as in other mechanical actuators, the friction compensation is extremely important as friction can have adverse impact on the overall control performance. In this paper, a feedforward friction observer (FFFO) is proposed as formulating an explicit analytical expression for the applied observation function. This ensures the cancelation of friction disturbances and time variances at steady state. The proposed observation scheme utilizes the two-state dynamic friction model with elastoplasticity (abbreviated as 2SEP), which is compact in parameterization and captures both the presliding and sliding phases of kinetic friction. The method to identify a motor drive plant with nonlinear friction in the frequency domain has been applied using only few frequency-response-function measurements. The feedback control design is performed with respect to the time delay detectable in the system, thus under additional constraints when determining the control gains. The optimal proportional-integral (PI) control designed this way is compared with the proportional control combined with the observer (P-FFFO). The simulation results show that P-FFFO control compensates faster for frictional disturbances at suddenly changing frictional conditions than PI control. In addition, an extensive experimental evaluation of velocity tracking control discloses P-FFFO as superior in terms of a faster steady-state convergence after various transient phases.

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Feed-forward friction observer (FFFO) for high-dynamic motion control

Cited by 10 publications

References 17 publications

Analysis of Linear Feedback Position Control in Presence of Presliding Friction

Analysis of Linear Feedback Position Control in Presence of Presliding Friction

Nonlinear modeling of solar array drive system considering backlash and friction

Tracking Control of Motor Drives Using Feedforward Friction Observer

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