以Dither為基礎的嶄新摩擦力補償模組

Abstract

摩擦力是自然界中各種機構都會遇到的壹個課題，例如：軸承摩擦、馬達摩擦及變速箱內的齒輪摩擦等等。摩擦力會使控制系統產生穩態誤差、機構震動及使其性能表現變差。本文提出壹非破壞性Dither訊號的摩擦力補償機構來補償馬達摩擦力。藉由將Dither訊號引入導控迴路透過適當的設計，配合濾波器來估算出摩擦係數。將準確的模擬訊號加入到馬達的力矩迴路來消除不期望出現的摩擦力。

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.