Friction Compensation of an $XY$ Feed Table Using Friction-Model-Based Feedforward and an Inverse-Model-Based Disturbance Observer

2009 ◽  
Vol 56 (10) ◽  
pp. 3848-3853 ◽  
Author(s):  
Z. Jamaludin ◽  
H. Van Brussel ◽  
J. Swevers
Keyword(s):  
Disturbance Observer ◽  
Friction Model ◽  
Inverse Model ◽  
Friction Compensation ◽  
Model Based

Analysis and Model-Based Control of Servomechanisms With Friction

2004 ◽  
Vol 126 (4) ◽  
pp. 911-915 ◽  
Author(s):  
Evangelos G. Papadopoulos ◽  
Georgios C. Chasparis
Keyword(s):  
Rigid Body ◽  
Function Analysis ◽  
Friction Model ◽  
Body Motion ◽  
System Response ◽  
Friction Compensation ◽  
Kinetic Friction ◽  
Motion Models ◽  
Model Based ◽  
Best Response

Friction is responsible for several servomechanism limitations, and their elimination is always a challenge for control engineers. In this paper, model-based feedback compensation is studied for servomechanism tracking tasks. Several kinetic friction models are employed and their parameters identified experimentally. The effects of friction compensation on system response are examined using describing function analysis. A number of control laws including classical laws, rigid body motion models, and friction compensation are compared experimentally in large-displacement tasks. Results show that the best response is obtained using a controller that incorporates a rigid body model and a friction model based on an accurate description of identified kinetic friction effects.

Inverse model-based virtual sensors for detection of hard faults in air handling units

2021 ◽  
pp. 111493
Author(s):  
Narges Torabi ◽  
H. Burak Gunay ◽  
William O'Brien ◽  
Ricardo Moromisato
Keyword(s):  
Inverse Model ◽  
Virtual Sensors ◽  
Model Based ◽  
Air Handling Units
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