Identification and Adaptive Control of Mechanical Systems with Friction

摘要: Abstract Friction which always occurs in mechanical syetems causes stick-slip motions and the case of closed loop control limit cycles poor performance. Different friction models their basic influence on static dynamic behaviour systems are discussed. If is modeled as a dc-value discrete time model, an identification process dynamics possible if special input-signals used. With on-line estimation adaptive compensator can be realized. The compensation value then used together with conventional algorithms to increase position performance, especially for small positional changes.