Friction compensation for a force controlled electric actuator with unknown sinusoidal disturbance motion

Pooh Eamcharoenying, Andy Hillis, Jos Darling

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Abstract

This paper presents a method of friction compensation for a linear electric motor subjected to unknown sinusoidal disturbance motions. The method uses a Coulomb friction model and applies a feedforward step signal when velocity zero crossing occurs. Velocity zero crossing estimation is achieved using an algorithm based on measured feedback velocity and force.

Original languageEnglish
Title of host publication2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings
PublisherIEEE
Pages331-336
Number of pages6
ISBN (Print)9781479950119
DOIs
Publication statusPublished - 2014
Event10th UKACC International Conference on Control, CONTROL 2014 - Loughborough, UK United Kingdom
Duration: 9 Jul 201411 Jul 2014

Conference

Conference10th UKACC International Conference on Control, CONTROL 2014
CountryUK United Kingdom
CityLoughborough
Period9/07/1411/07/14

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Keywords

  • force control
  • friction compensation
  • permanent-magnet linear motor

Cite this

Eamcharoenying, P., Hillis, A., & Darling, J. (2014). Friction compensation for a force controlled electric actuator with unknown sinusoidal disturbance motion. In 2014 UKACC International Conference on Control, CONTROL 2014 - Proceedings (pp. 331-336). IEEE. https://doi.org/10.1109/CONTROL.2014.6915162