The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Friction Identification without Information of Acceleration

가속도 정보를 사용하지 않는 마찰계수 식별방법

  • 김성열 (서울대학교 전기컴퓨터학과부) ;
  • 하인중 (서울대학교 전기컴퓨터학과부)
  • Published : 2002.03.01
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Abstract

This paper describes a new identification method for friction in motion control systems, in which the friction model is not necessarily linear in parameters. The proposed method works well with any measurement data of velocity and input control force, as long as the initial and final velocities are identical. Most importantly, the proposed method does not require the information of acceleration for its implementation, in contrast with the previously known methods. This is due to the orthogonality property between acceleration and a function of velocity. In particular, if the parametric model is linear in parameters, its friction parameters can be identified in closed form without resorting to numerical search methods. To illuminate further the generality and practicality of the proposed friction identification method, we show good performance of the proposed method through some simulation results.

Keywords

References

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