A Friction Model-Based Frequency Response Analysis for Frictional Servo Systems
A Friction Model-Based Frequency Response Analysis for Frictional Servo Systems
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DOI：
10.1109/tii.2018.2808461
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发表时间：
2018-11-01
影响因子：
12.3
通讯作者：
Iwasaki, Makoto
中科院分区：
文献类型：
--
作者：
Maeda, Yoshihiro;Harata, Kazuya;Iwasaki, Makoto
提出了一种基于摩擦模型的频率响应分析方法，该方法给出了精确的线性机械动力学模型，为摩擦伺服系统设计有效的控制器和精确的控制特性分析提供了依据。众所周知，使用正弦扫描的频域识别方法被广泛用于获得线性动态。然而，非线性摩擦力的存在改变了线性动力学的频域特性。建议FRA估计实际线性动态正弦扫描运动中的有效激励推力，通过摩擦模型以及相位延迟模型。理论分析表明，所提出的FRA可以识别正确的线性动态，防止非线性摩擦的影响，以及在植物系统中的相位延迟属性。通过理论分析和频域和时域实验，与两种传统的FRA方法进行了比较，验证了所提出的FRA方法的有效性。
This paper presents a frictionmodel-based frequency response analysis (FRA) method, which gives a precise linear mechanical dynamics model to design effective controllers and analyze accurate control characteristics for frictional servo systems. As well known, frequency-domain identification approaches using a sine sweep are widely used to obtain linear dynamics. However, nonlinear friction in the mechanism varies the apparent frequency-domain characteristic of the linear dynamics due to the nonlinearity. The proposed FRA estimates effective excitation thrust for actual linear dynamics in the sine sweep movement, by means of a friction model as well as a phase delay model. Theoretical analyses show that the proposed FRA can identify the correct linear dynamics, preventing influence of nonlinear friction as well as phase delay properties included in a plant system. The effectiveness of the proposed FRA is verified through theoretical analyses and experiments both in frequency and time domains, in comparison to two conventional FRA methods.