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Title: Automatic friction identification and compensation with a self-adapting dual relay
Authors: Tan, K.K. 
Xie, Y.
Lee, T.H. 
Keywords: Coulomb friction
Friction compensation
Friction identification
Relay feedback
Viscous friction
Issue Date: 2003
Citation: Tan, K.K.,Xie, Y.,Lee, T.H. (2003). Automatic friction identification and compensation with a self-adapting dual relay. Intelligent Automation and Soft Computing 9 (2) : 83-95. ScholarBank@NUS Repository.
Abstract: The application of a dual relay feedback approach towards the identification of frictional effects in servo-mechanisms will be presented in this paper. The friction model, thus identified, will consist of Coulomb (including possibly directional Coulomb or load bias) and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, from the same experiments, the dynamical model of the servo-mechanical system can be obtained from the experiments. These models will be directly useful in the design of the feedback controller and the friction compensator. Results from simulation and experiments are presented to illustrate the practical appeal of the proposed method.
Source Title: Intelligent Automation and Soft Computing
ISSN: 10798587
Appears in Collections:Staff Publications

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