Friction identification of ball-screw driven servomechanisms through the limit cycle analysis
- Authors
- Kim, Min-Seok; Chung, Sung-Chong
- Issue Date
- Mar-2006
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Keywords
- describing function; friction identification; harmonic balance condition; limit cycle; nonlinearity; Nyquist criterion; servomechanism; Stribeck effect
- Citation
- MECHATRONICS, v.16, no.2, pp.131 - 140
- Indexed
- SCIE
SCOPUS
- Journal Title
- MECHATRONICS
- Volume
- 16
- Number
- 2
- Start Page
- 131
- End Page
- 140
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/181715
- DOI
- 10.1016/j.mechatronics.2005.09.006
- ISSN
- 0957-4158
- Abstract
- Friction degrades the positioning accuracy of servomechanisms. Friction compensators are required to fabricate high-performance servomechanisms. In order to compensate for the friction in the servomechanism accurately, identification of the friction is required first. This paper proposes a friction identification method of a ball-screw driven servomechanism in the frequency domain. A nonlinear friction model including static. Coulomb, and viscous friction as well as Stribeck effect is formulated by using describing functions. Friction elements are estimated through the limit cycle analysis in a velocity control loop. In order to increase the accuracy of the friction identification process. a Butterworth filter is incorporated into the velocity feedback loop. Validity of the proposed method is confirmed through the numerical simulation and experiment in a ball-screw driven servomechanism. In addition, a model-based friction compensator is applied as a feedforward controller to compensate for the nonlinear characteristics of the servomechanism and to verify the effectiveness of the proposed identification method.
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