Identification of mechanical parameters for position-controlled servo systems using sinusoidal commands

Yoo, Min-Sik; Choi, Seung‐Cheol; Park, Sang-Woo; Yoon, Young‐Doo

doi:10.1007/s43236-020-00135-2

Cited by 2 publications

(1 citation statement)

References 18 publications

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“…Wu et al [43] proposed an identification method using substrate force sensors, which first identified the inertial parameters and then calculated the joint friction value by subtracting the inertial torque from the joint torque, which did not require a priori friction model. Yoo et al [44] used a 90 • phase relationship between acceleration and velocity in position control. The mechanical parameters were obtained from the integral value of the product of the torque, velocity, and position, and the moment of inertia and friction components were fully considered to effectively estimate the moment of inertia, viscous friction coefficient, and Coulomb friction in the offline state.…”

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confidence: 99%

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

et al. 2022

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In a high-precision servo system, the nonlinear friction link is the key factor affecting the system performance. Reasonable solving of the friction link in servo systems has become a focus of current research. This paper summarizes the friction nonlinearity that affects the control performance of servo systems. First, the characteristics of friction are summarized, and the advantages and disadvantages of typical friction models in recent years are analyzed. Subsequently, existing friction model parameter identification methods are introduced and evaluated. On this basis, the development level of the friction nonlinear control strategy is analyzed from three aspects: friction model-based control, friction model-free control, and compound control. Finally, the objective advantages and disadvantages of the existing technology are summarized, and the future development direction of the friction model and selection reference for the nonlinear friction control strategy are comprehensively discussed.

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confidence: 99%

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

et al. 2022

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Adaptive Backstepping Nonsingular Terminal Sliding Mode Control of Servo System Based on New Sliding Mode and Reaching Law

Zhu

Wang

Zhu

2021

Preprint

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Aiming at the problem that the control accuracy of permanent magnet synchronous motor (PMSM) servo system is easily affected by parameter uncertainty, an adaptive backstepping nonlinear nonsingular terminal sliding mode control (ABNNTSMC) method is proposed in this paper. Based on the existing fast nonsingular terminal sliding mode, a new piecewise nonlinear nonsingular terminal sliding mode is proposed to improve the convergence speed and ensure the steady-state accuracy. At the same time, a new reaching law with attenuation term is proposed to reduce the vibration gradually. Finally, the adaptive law is used to estimate the moment of inertia and viscous friction coefficient of the system to improve the robustness of the system. Simulation results show that ABNNTSMC has higher steady-state accuracy and smaller vibration compared with several existing results.

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Identification of mechanical parameters for position-controlled servo systems using sinusoidal commands

Cited by 2 publications

References 18 publications

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

A Review of Key Technologies for Friction Nonlinearity in an Electro-Hydraulic Servo System

Adaptive Backstepping Nonsingular Terminal Sliding Mode Control of Servo System Based on New Sliding Mode and Reaching Law

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