Implementation of a friction estimation and compensation technique

Jayesh Amin, Bernard Friedland, Avraham Harnoy

Research output: Contribution to conferencePaperpeer-review

13 Scopus citations

Abstract

A friction estimation and compensation technique was implemented on a laboratory apparatus designed to permit the direct measurement of friction. Experimental results are reported for a friction observer which estimates total friction present assuming it to be a constant times the sign of velocity. An second observer is used to estimate the velocity using the measured position of the rotating shaft in the apparatus. when velocity is not measurable. Experimental results show that the friction estimate is consistent with the measured friction, displaying the theoretical hysteresis phenomenon. Moreover, the performance of the system is substantially improved, especially at very low velocity, through the use of the estimated friction to compensate the system.

Original languageEnglish (US)
Pages804-808
Number of pages5
StatePublished - Dec 1 1996
Externally publishedYes
EventProceedings of the 1996 IEEE International Conference on Control Applications - Dearborn, MI, USA
Duration: Sep 15 1996Sep 18 1996

Other

OtherProceedings of the 1996 IEEE International Conference on Control Applications
CityDearborn, MI, USA
Period9/15/969/18/96

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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