Please use this identifier to cite or link to this item: https://doi.org/10.1109/MMVIP.2007.4430709
DC FieldValue
dc.titleImprovement of tracking performance of servomechanical system by an accurate four-parameter friction modelling and compensation
dc.contributor.authorChen, S.-L.
dc.contributor.authorKok, K.T.
dc.contributor.authorHuang, S.
dc.date.accessioned2014-06-19T03:13:35Z
dc.date.available2014-06-19T03:13:35Z
dc.date.issued2007
dc.identifier.citationChen, S.-L., Kok, K.T., Huang, S. (2007). Improvement of tracking performance of servomechanical system by an accurate four-parameter friction modelling and compensation. Proceedings 14th International Conference on Mechatronics and Machine Vision in Practice, M2VIP2007 : 28-34. ScholarBank@NUS Repository. https://doi.org/10.1109/MMVIP.2007.4430709
dc.identifier.isbn1424413583
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/70564
dc.description.abstractIn this paper, a systematic procedure to identify a comprehensive version of friction model via limit cycle experiments using dual-channel relay feedback apparatus is presented and demonstrated on a 3-D Cartesian robotic system. This friction model, which contains static, Coulomb and viscous friction with Sticbeck effect, can describe the friction behaviour when the servo system operates at both low and high velocity mode. The limit cycle properties of the dual-channel relay feedback system are used for careful tuning of relay gains to run the system on either high or low velocity modes. Sets of explicit formulas are applied for direct computation of model parameters. Only the boundary lubrication velocity is estimated via one-dimensional optimisation. The friction compensation experiment shows the accuracy of the identified model and the effectiveness of proposed method. ©2007 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/MMVIP.2007.4430709
dc.sourceScopus
dc.subjectFriction modelling
dc.subjectLimit cycle
dc.subjectRelay feedback
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1109/MMVIP.2007.4430709
dc.description.sourcetitleProceedings 14th International Conference on Mechatronics and Machine Vision in Practice, M2VIP2007
dc.description.page28-34
dc.identifier.isiut000252829700007
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