Modeling and Compensation of Friction in Control Systems

控制系统中摩擦的建模和补偿

• 批准号: 9215636
• 负责人: Bernard Friedland
• 金额: $ 14万
• 依托单位: New Jersey Institute of Technology
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 1993
• 资助国家: 美国
• 起止时间: 1993-03-01 至 1996-11-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9215636&HistoricalAwards=false
• 关键词: Modeling; Compensation; Friction; Control; Systems

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.*** //

该研究项目的重点是对摩擦特性进行精确建模，以便在模拟中预测其影响。摩擦对控制系统有显着的影响，因为它限制了控制系统的精度和速度，甚至可能导致不稳定的趋势。除了扩展复位积分器模型之外，还引入了一种新的自适应摩擦补偿方法。通过这种方法，可以在系统运行时估计摩擦系数，并使用该估计值通过控制中的相反项来抵消摩擦分量。该技术通过仿真得到验证，自适应补偿的实用性通过研究期间设计和制造的设备进行实验验证。*** //