Vol 5 No 9 (2019): IJRDO - Journal of Electrical And Electronics Engineering (ISSN: 2456-6055)
Articles

Development of Identification Algorithms in Frequency Domain for Friction-Based Servo Drives Technology

Lwin Mar Aung
Technological University (Maubin)
Bio
Published September 12, 2019
Keywords
  • Simulation,
  • Friction Compensation,
  • Identification Algorithms,
  • System Identification MATLAB
How to Cite
Aung, L. M. (2019). Development of Identification Algorithms in Frequency Domain for Friction-Based Servo Drives Technology. IJRDO - Journal of Electrical And Electronics Engineering (ISSN: 2456-6055), 5(9), 01-05. Retrieved from https://ijrdo.org/index.php/eee/article/view/3189

Abstract

In this paper, nonlinearities, such as friction, backlashes, and saturations are commonly exists in servo drive systems in industry. Specifically, friction exists in servo motor control systems.  The friction effects are undesirable in servo applications because they disturb the system performance. So it is required to know or identify the friction in servo systems. In this thesis, binary test signals are used to perform identification, thus simplifying the behaviour of friction. An identification method using the Identification Toolbox in MATLAB/SIMULINK is proposed in this analysis.

Downloads

Download data is not yet available.

References

  1. L. A. Zadeh, “From circuit theory to system theory,” Proc.IRE, vol. 50,pp. 856–865, 1962.
  2. A. van den Bos and R. G. Krol, “Synthesis of discrete-interval binary signals with specified fourier amplitude spectra,” Int. J. Contr., vol. 30,no. 5, pp. 871–884, 1979.
  3. C. Canudas deWit, K. J. Åstrom, and K. Braun, “Adaptive friction compensation in DC motor drives,” IEEE J. Robot. Automat., vol. RA3,Nov. 1987.
  4. C. Canudas de Wit and J. Carillo, “A weighted RLS algorithm for systems with bounded disturbances,” in Proc. IFAC Conf. Identification Syst. Parameter Identification, Beijing, P. R. China, 1988, pp. 879–884.
  5. K. Ogata, “Modern Control Engineering”, Englewood Cliffs, NJ: Prentice-Hall, 1990.
  6. E. D. Tung and M. Tomizuka, “Feedforward tracking controller design based on the identification of low frequency dynamics,” ASME J. Dynamic Syst., Meas., Contr., vol. 115, pp. 348–356, 1993.
  7. I. Kollár, “On frequency domain identification of linear systems,” IEEETrans. Instrum. Meas., vol. 42, pp. 2–6, Jan. 1993.
  8. R. Johansson, “System Modeling and Identification”. Englewood Cliffs,NJ: Prentice-Hall, 1993.
  9. B. Armstrong-Hélouvry, P. Dupont, and C. Canudas de Wit, “Asurvey of models, analysis tools and compensation methods for the control of machines with friction,” Automatica, vol. 30, no. 7, pp.1083–1138, 1994
  10. H. S. Lee and M. Tomizuka, “Robust high-speed servo-controllers for micropositioning system,” in Proc. 3rd Int. Workshop Advanced Motion Contr., Berkeley, CA, 1994, pp. 633–642
  11. B. Armstrong-Hélouvry and B. Amin, “PID control in the presence ofstatic friction: A comparison of algebraic and describing function analysis,” Automatica, vol. 32, no. 5, pp. 679–692, 1996.
  12. J. G. Mueller, B. A. A. Antao, and R. A. Saleh, “A multifrequency techniquefor frequency response computation with application toswitchedcapacitorcircuits with nonlinearities,” IEEE Trans. Comput.-Aided Design,vol. 15, pp. 775–790, July 1996.
  13. J. H. Kim, H. K. Chae, J. Y. Jeon, and S. W. Lee, “Identification and control of systems with friction using accelerated evolutionary programming,” IEEE Contr. Syst. Mag., pp. 38–47, Aug. 1996.
  14. M. R. Elhami and D. J. Brookfield, “Sequential identification ofcoulomb and viscous friction in robot drives,” Automatica, vol. 33, no.3, pp. 393–401, 1997.
  15. K. Kozlowski, “Modeling and Identification in Robotics”. New York:Springer-Verlag, 1998.