Title :
Friction compensation for a force controlled electric actuatorwith unknown sinusoidal disturbance motion
Author :
Eamcharoenying, Pooh ; Hillis, Andy ; Darling, Jos
Author_Institution :
Dept. of Mech. Eng., Univ. of Bath, Bath, UK
Abstract :
This paper presents a method of friction compensation for a linear electric motor subjected to unknown sinusoidal disturbance motions. The method uses a Coulomb friction model and applies a feedforward step signal when velocity zero crossing occurs. Velocity zero crossing estimation is achieved using an algorithm based on measured feedback velocity and force.
Keywords :
electric actuators; feedback; force control; friction; linear motors; machine control; permanent magnet motors; Coulomb friction model; feedback velocity; feedforward step signal; force controlled electric actuator; friction compensation; linear electric motor; sinusoidal disturbance motion; velocity zero crossing estimation; Acceleration; Actuators; Estimation; Force; Friction; Sensors; Tracking; force control; friction compensation; permanent-magnet linear motor;
Conference_Titel :
Control (CONTROL), 2014 UKACC International Conference on
Conference_Location :
Loughborough
DOI :
10.1109/CONTROL.2014.6915162
