Robust friction compensation based on Karnopp model
作者： L Ravanbod Shirazi , A Besançon-Voda , None
DOI: 10.23919/ECC.2001.7076313
关键词:
摘要: An essential problem concerning friction compensation is over-compensation or under-compensation. In model-based for friction, these events are due to over-estimation under-estimation of the model parameters. While generally under estimation results in steady state errors, over may produce oscillations and instability. this paper, a simple servo-mechanism where part modeled by Karnopp treated. A controller able cope with problems proposed. Using describing function analysis new design studied.
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