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On-line friction modeling, estimatio...

Boueri, Bernard Francois.

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On-line friction modeling, estimation and compensation for position control.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	On-line friction modeling, estimation and compensation for position control./
Author:	Boueri, Bernard Francois.
Description:	207 p.
Notes:	Chairman: A. A. Seireg.
Contained By:	Dissertation Abstracts International63-09B
Subject:	Engineering, Mechanical -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3065908
ISBN:	0493849718

On-line friction modeling, estimation and compensation for position control.
Boueri, Bernard Francois.

On-line friction modeling, estimation and compensation for position control. - 207 p.

Chairman: A. A. Seireg.

Thesis (Ph.D.)--University of Florida, 2002.

Problems associated with friction have plagued high precision servo-control applications (i.e., manufacturing as well as other industries) for many years. To avoid these problems researchers have developed various compensation techniques to deal with time-invariant friction. However, in complex applications where variable operating environments or wear exist, friction may not be time invariant. Thus, time invariant friction models can't produce an accurate representation of the friction. These inaccuracies will lead to poor compensation. To address this problem it is necessary to determine the best suited model, which can be used for time-varying friction, in order to continuously track any variations in the frictional resistance.

ISBN: 0493849718Subjects--Topical Terms:

1260257
Engineering, Mechanical

On-line friction modeling, estimation and compensation for position control.
LDR:02324nam 2200277 a 45 001 936685
005 20110510
008 110510s2002 eng d
020 $a 0493849718
035 $a (UnM)AAI3065908
035 $a AAI3065908
040 $a UnM $c UnM
100 1 $a Boueri, Bernard Francois. $3 1260503
245 1 0 $a On-line friction modeling, estimation and compensation for position control.
300 $a 207 p.
500 $a Chairman: A. A. Seireg.
500 $a Source: Dissertation Abstracts International, Volume: 63-09, Section: B, page: 4328.
502 $a Thesis (Ph.D.)--University of Florida, 2002.
520 $a Problems associated with friction have plagued high precision servo-control applications (i.e., manufacturing as well as other industries) for many years. To avoid these problems researchers have developed various compensation techniques to deal with time-invariant friction. However, in complex applications where variable operating environments or wear exist, friction may not be time invariant. Thus, time invariant friction models can't produce an accurate representation of the friction. These inaccuracies will lead to poor compensation. To address this problem it is necessary to determine the best suited model, which can be used for time-varying friction, in order to continuously track any variations in the frictional resistance.
520 $a In this research a four-parameter friction model is extended for on-line application and compared to other standard models for validation. Next, an on-line approach for friction estimation using an extended Kalman filter is developed to allow for time-varying frictional parameters. The real-time estimated friction is then used in a feedforward compensator to provide high-precision servo control. To illustrate the method without introducing undue complexity, the study utilizes a single-degree-of-freedom mass-spring-damper system. In addition, sensitivity, controllability, observability, and convergence issues are also studied. Finally, simulations and experimental results are used to validate the proposed technique
590 $a School code: 0070
650 $a Engineering, Mechanical $3 1260257
690 $a 054
710 2 $a University of Florida $3 1260439
773 0 $t Dissertation Abstracts International $g 63-09B
790 $a 007
790 1 $a Seireg, A. A., $e adviso
791 $a Ph.D
792 $a 200
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3065908