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標題: 以Dither為基礎的嶄新摩擦力補償模組
A New Dither-Based Friction Compensation Scheme
作者: 張瑋志
Chang, Wei-Chih
關鍵字: friction;摩擦力;dither;compensation;Dither;濾波器
出版社: 電機工程學系所
引用: [1] Anatoli, A. P. & Carlos, C. W., “Asymptotic analysis of the dither effect in systems with friction,” Automatic, vol. 38, no. 1, pp. 105-113, 2002. [2] Oppelt, W., “A historical review of autopilot development, research, and theory in Germany,” ASME Journal of Dynamic Systems, Measurements, and Control, pp. 215-223, 1976. [3] Swevers, J., Bender, F.A., Ganseman, C.G., & Projogo, T, “An integrated friction model structure with improved presliding behaviour for accurate friction compensation,” IEEE Transactions on Automatic Control, vol. 45, no. 4, pp. 675-686, 2000.

This short note proposes an estimation and compensation scheme for servo control systems with friction. We show that precise prediction of the linearized friction coefficient is achievable by introducing a nondestructive dither signal into the control loop along with some filters. On the basis of the estimated friction parameter, a correcting signal could be added to the torque loop to compensate for the undesired friction force.
其他識別: U0005-1708200715495900
Appears in Collections:電機工程學系所

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