Compensation of solid friction in a servo system by an extended Kalman filter.
Bibliographic Information
- Other Title
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- カルマンフィルタを用いて摩擦を補償するサーボ系の構成
- カルマン フィルタ オ モチイテ マサツ オ ホショウスル サーボケイ ノ コ
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Abstract
Solid friction in mechanical control systems causes undesirable effects such as a jerking motion. Taking account of negative gradient characteristics from a static friction to a kinetic one, we propose an extended Kalman filter algorithm for solid friction estimation. An application of this estimation technique to a servo system is proposed in this paper. The proposed controller consists of a conventional linear controller and the extended Kalman filter. The real-time estimate given by the extended Kalman filter is fed back so as to cancel the solid friction. Using hybrid simulation where a plant with a solid friction is simulated by an analogue computer and the controller is simulated by a digital computer, we compare the performance of the proposed controller with that of a controller which neglects the negative gradient characteristics of the friction. The result shows that the proposed controller provides better performance.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 56 (521), 62-66, 1990
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001206297044480
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- NII Article ID
- 130004082540
- 110002392026
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 3651094
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed