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Friction models
Friction compensation
Todays Goal
Material
PID
state-space systems
and Kalman filters (observers)
Lecture slides
G (s)
ce
Output
C(s)
20
40
60
80
20
40
Time
60
80
Input
0.1
0
0.1
yset-point
Tt = 3
Tt = 2
Tt = 0.1, Tt = 1
KTd s
Actuator
K
Ti
1
s
0
u
0
0.1
1
Tt
0.1
0
20
30
20
30
Tt = 3
Tt = 2
Tt = 0.1
Tt = 1
es
10
10
(b)
y
KTd s
Actuator model
K
Ti
1
s
Actuator
Common choices: Tt = Ti or Tt = Ti Td .
+
es
1
Tt
xm
Observer
y
x c (t) =
sat(v)
F xc (t) + G y(t)
(b)
y
x =
v =
SA
y
SB
A x + B sat(v) + K ( y C x )
L( xm x )
Idea:
Rewrite representation of control law from (a) to (b) such that:
F xc + G y + K (u Cxc D y)
|
{z
}
=0
= ( F K C ) xc + ( G K D ) y + K u
xc
s 1
= F0 xc + G0 y + K u
F KC
x c =
F0 xc + G0 y + K u
u = sat ( Cxc + D y)
G KD
xc
s 1
sat
5 Minute Exercise
Saturation
yre f
1
s
Li
Process
Estimator
Friction
Stick-slip Motion
k( y x)
Often bad
Somtimes good
Friction in brakes
2
1
0
0
Earthquakes
10
20
Time
0.4
Problems
0.2
0
0
10
20
Time
0
0
10
20
Time
3 Minute Exercise
Friction
xr
PID
ms
x
s
0.5
0
0
20
40
60
80
100
Time
20
40
60
80
100
Time
20
40
60
80
100
Time
0.2
0.2
0
1
0
1
0
Boundary lubrication
Mixed lubrication
Velocity
Stribeck Effect
Lubrication Regimes
Sticking
Friction
Friction
Frictional Lag
Stribeck (1902)
Hysteresis effect!
200
150
100
Friction
Friction [Nm]
50
0
-50
-100
-150
Velocity
-200
-0.04
-0.03
-0.02
-0.01
0
0.01
Velocity [rad/sec]
0.02
0.03
0.04
b)
c)
c)
F (t) =
d)
Karnopp model
Dahl model
Bristle model
Wit-Olsson-strm
Demands on a model
Friction Compensation
Lubrication
sufficiently accurate,
Dither
Pick the simplest model that does the job! If no stiction occurs
the v = 0-models are not needed.
Integral Action
K
Ti
Rt
e(t)d
e(t)
where input to integrator e =
0
e(t) +
To get fast action when friction changes one must use much
integral action (small Ti )
e(t) >
p e(t)p <
e(t) <
e(t)
e(t)
Mechanical VibratorDither
Ffriction
u PI D
Friction
xr
+
PI D
Friction
v
1
ms
1
s
1
ms
+
+
1
s
Friction
estimator
Fbfriction
Assumption: v measurable.
Friction estimator:
Cf., mechanical maze puzzle
(labyrintspel)
z = ku PI D sgn(v)
b = z kmpvp
a
b sgn(v)
Fbfriction = a
b 0 as t ,
Result: e = a a
The Knocker
since
de
d a
dz
d
=
=
+ km pvp
dt
dt
dt
dt
= ku PI D sgn(v) + kmv sgn(v)
2.5
1.5
= k sgn(v)(u PI D mv)
= k sgn(v)( F F )
0.5
= k(a a )
0.5
= ke
d
dt pvp
10
ExampleFriction Compensation
Results
P-controller
vre f
1
0.5
0.5
1
0
0.5
1
10
5
10
0
0.5
0
0.5
1
0
10
5
0
5
10
0
5
10
0
P-controller
with Coulomb estimation
1
c) P + Coulomb estimation
b) PI-controller
1
0
10
a) P-controller
PI-controller
1
0.5
Next Lecture
Backlash
Quantization