Design Innovation Paper

On the Model-Free Compensation of Coulomb Friction in the Absence of the Velocity Measurement

[+] Author and Article Information
Mingwei Sun

College of Computer and Control Engineering,
Nankai University,
Tianjin 300350, China
e-mail: smw_sunmingwei@163.com

Zhiqiang Gao

Department of Electrical and Computer Engineering,
Center for Advance Control Technologies,
Cleveland State University,
Cleveland, OH 44115

Zenghui Wang

Department of Electrical and Mining Engineering,
University of South Africa,
Florida 1710, South Africa

Yuan Zhang, Zengqiang Chen

College of Computer and Control Engineering,
Nankai University,
Tianjin 300350, China

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 17, 2014; final manuscript received June 7, 2017; published online August 28, 2017. Editor: Joseph Beaman.

J. Dyn. Sys., Meas., Control 139(12), 125001 (Aug 28, 2017) (6 pages) Paper No: DS-14-1484; doi: 10.1115/1.4037267 History: Received November 17, 2014; Revised June 07, 2017

This paper demonstrates that the Coulomb friction, the most difficult part of friction to be compensated because of its discontinuity with respect to the velocity, can be precisely compensated without either its mathematical model or a velocity measurement, as commonly required in the literature. Instead, the necessary information needed in the friction compensation is obtained in real time from an implicit extended observer in the context of a common proportional-derivative motion control system, using the proposed linear reference compensation scheme. The robustness of this particular observer design to the time-delay uncertainty resulting from the model reduction is thoroughly investigated, which illustrates the extent to which a high bandwidth can be employed to achieve the favorable dynamic performance such that the limitation on the bandwidth of the original extended state observer (ESO) can be effectively eliminated. Finally, numerical examples are provided to validate the proposed method.

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Fig. 1

Block diagram for a linear friction compensation

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Fig. 3

Control inputs without measurement noises

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Fig. 4

Reference, compensation reference, and output

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Fig. 5

Output responses with measurement noises

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Fig. 6

Output responses with measurement noises (enlarged Fig. 5 at the first velocity reversal period)

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Fig. 7

Control inputs with measurement noises

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Fig. 8

Control inputs with measurement noises (a clear illustration of Fig. 7)

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Fig. 2

Output responses without measurement noises




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