Estimation of Solid Friction in a Servomotor Mechanism Using an Adaptive Observer and Its Application to Positioning Control
Estimation of Solid Friction in a Servomotor Mechanism Using an Adaptive Observer and Its Application to Positioning Control
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使用自适应观测器估计伺服电机机构中的固体摩擦及其在定位控制中的应用
DOI：
10.9746/sicetr1965.24.162
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发表时间：
1988
期刊：
影响因子：
--
通讯作者：
I. Yamada
中科院分区：
文献类型：
--
作者：
I. Yamada
在许多机构中，固体摩擦对运动有不良影响。因此，为了实现更快和更精确的定位，重要的是补偿作用在定位机构上的非线性固体摩擦。从这一观点出发，本文讨论了一种自适应观测器的设计方法，该观测器除了能估计状态变量外，还能估计固体摩擦力，并讨论了定位控制中固体摩擦力的补偿方法。首先介绍了一种伺服电机系统的自适应观测器。当考虑固体摩擦力的非线性特性时，自适应观测器根据速度的三个符号（正、负、零）改变其参数值。实验证实，自适应观测器表现出上级性能相比，其他观察员，其设计忽略固体摩擦或把它作为一个恒定的干扰等，此外，固体摩擦使用上述自适应观测器的近似补偿方法提出。它还表明，这种补偿方法，使高速定位的固体摩擦的伺服系统。
In many mechanisms, sold friction has a bad effect on motion. Therefore, to realize faster and more accurate positioning, it is important to compensate for nonlinear solid friction acting on a positioning mechanism. From this point of view, this paper discusses a design method for an adaptive observer which can estimate solid friction in addition to state variables, as well as a compensation method for solid friction incurred in positioning control. First, a kind of adaptive observer for a servomoter system is introduced. When considering the nonlinear characteristics of solid friction, the adaptive observer changes its parameter values according to three signs (plus, minus and zero) of velocity. It is experimentally confirmed that the adaptive observer exhibits superior properties in contrast to other observers, whose designs ignore solid friction or regard it as a constant disturbance, etc. Moreover, an approximate compensation method for solid friction using the abovementioned adaptive observer is proposed. It is also shown that this compensation method enables high-speed positioning for a servomotor system with solid friction.