Modeling and Compensation of Friction in Control Systems

本研究的重点是对摩擦特性进行精确建模，以便在仿真中对其影响进行预测。摩擦对控制系统的精度和速度有很大的影响，它限制了控制系统的精度和速度，甚至可能导致系统失稳。通过这种方法，可以在系统运行时估计摩擦系数，并使用该估计来通过控制中的相反项来抵消摩擦分量。通过仿真验证了该方法的有效性，并通过研制的装置对自适应补偿的有效性进行了实验验证。

The emphasis of this research project is on accurately modeling the friction characteristics so that its effect can be predicted in simulations. Friction has a significant influence on control systems since it limits their accuracy and speed, and may even induce tendency to instability, In addition to extending the reset integrator model, a new method of adaptive friction compensation is introduced. With this approach it is possible to estimate the coefficient of friction while the system is in operation, and to use this estimate to cancel out the friction component by an opposite term in control. The technique is verified by simulation, and the utility of adaptive compensation is validated experimentally via an apparatus designed and fabricated during the research period.*** //