2005
DOI: 10.1007/s00170-005-0113-y
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Nonlinear friction compensation in mechatronic servo systems

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Cited by 13 publications
(8 citation statements)
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“…The position reference signal is selected as, 3.603sin(0.02 ) 3.603sin(0.04 ) Fig.2 and Fig.3 show the position tracking and tracking error for the real-time control system without friction state observer, respectively. Therefore, it can be concluded that the controller with the observer can acquire more perfect tracking performance and higher accuracy than that the controller without the observer could do.…”
Section: B Experimental Resultsmentioning
confidence: 99%
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“…The position reference signal is selected as, 3.603sin(0.02 ) 3.603sin(0.04 ) Fig.2 and Fig.3 show the position tracking and tracking error for the real-time control system without friction state observer, respectively. Therefore, it can be concluded that the controller with the observer can acquire more perfect tracking performance and higher accuracy than that the controller without the observer could do.…”
Section: B Experimental Resultsmentioning
confidence: 99%
“…It is enough to meet the need by using a simple friction model and traditional friction compensation method in electrical servo system. However, it is hardly the situation for their hydraulic counterparts [1]- [3], especially for our project: the friction torque is about 3000 Nm, which takes a high percentage of the rated driving torque (about 7000 Nm) of the hollow hydraulic motor. So large a torque and a high percentage between the driving torque and the friction torque are very rare among the hydraulic servo systems.…”
Section: Introductionmentioning
confidence: 85%
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“…Usually, a low-frequency drift error model is established. Based on the error model and classical control methods, target servo tracking performance can be improved [5]- [7]. Fortunately, the above-mentioned two problems can be classified as a single-objective optimization problem and a multi-objective optimization problem, respectively.…”
Section: Introductionmentioning
confidence: 99%
“…Although many friction compensation methods are available (Armstrong-Helouvry et al, 1994;Lischinsky et al, 1999;Bona & Indri, 2005;), here we only introduce relatively recent research works. Model-based friction compensation techniques (Mei et al, 2006;Bona et al, 2006;Liu et al, 2006) require prior experimental identification, and the drawback of these off-line friction estimation methods is that they can't adapt when the friction effects vary during the robot operations (Visioli et al, 2001). The adaptive compensation methods (Marton & Lantos, 2007;Xie, 2006) take the modelling error of Lugre friction model into account, but they still require the complex prior experimental identification.…”
Section: Introductionmentioning
confidence: 99%