Torque Bias Compensation Method for Nonlinear Friction by the Use of a Disturbance Observer

In the case that the estimated dynamic characteristics of a disturbance observer accompany a restriction because of backlash or noise, the Coulomb friction changing in a moment with the switching of the velocity sign cannot be compensated rapidly. Although compensation by the torque bias is possible...

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Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 57; no. 534; pp. 371 - 376
Main Authors MIYAKE, Iwao, ITOH, Masami, KATO, Yoshiki, AWAYA, Ichiro
Format Journal Article
LanguageEnglish
Japanese
Published The Japan Society of Mechanical Engineers 1991
Subjects
Automatic Control
Coulomb's Friction
Disturbance Observer
Estimation Delay
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ISSN0387-5024
1884-8354
DOI10.1299/kikaic.57.371

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Summary:In the case that the estimated dynamic characteristics of a disturbance observer accompany a restriction because of backlash or noise, the Coulomb friction changing in a moment with the switching of the velocity sign cannot be compensated rapidly. Although compensation by the torque bias is possible without delay, the estimation error of the friction results in the disturbance. Thus, making full use of a disturbance observer, the above-mentioned subject is studied by introducing the dynamic compensator which compensates for the estimation delay. The effectiveness of this method is demonstrated in several simulation and experimental results.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.57.371