Friction compensation using Coulomb friction model with zero velocity crossing estimator for a force controlled model in the loop suspension test rig

Pooh Eamcharoenying, Andy Hillis, Jos Darling

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Abstract

This paper presents a method of friction compensation for a linear electric motor in a model in the loop suspension test rig. The suspension consists of a numerically modelled spring and damper, with inputs of suspension motion. The linear motor is force controlled using a force sensor to track the output of the numerical model. 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. Experimental results indicate reduction of force tracking error caused by Coulomb friction leading to improved test rig accuracy.
Original languageEnglish
Pages (from-to)2028-2045
JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume230
Issue number12
Early online date24 Jun 2015
DOIs
Publication statusPublished - Jul 2016

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Linear motors
Friction
Numerical models
Feedback
Sensors
Compensation and Redress

Keywords

  • force control; friction compensation; permanent-magnet linear motor; model in the loop (MIL); substructuring; hybrid experimental/numerical testing

Cite this

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title = "Friction compensation using Coulomb friction model with zero velocity crossing estimator for a force controlled model in the loop suspension test rig",
abstract = "This paper presents a method of friction compensation for a linear electric motor in a model in the loop suspension test rig. The suspension consists of a numerically modelled spring and damper, with inputs of suspension motion. The linear motor is force controlled using a force sensor to track the output of the numerical model. 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. Experimental results indicate reduction of force tracking error caused by Coulomb friction leading to improved test rig accuracy.",
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AU - Darling, Jos

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N2 - This paper presents a method of friction compensation for a linear electric motor in a model in the loop suspension test rig. The suspension consists of a numerically modelled spring and damper, with inputs of suspension motion. The linear motor is force controlled using a force sensor to track the output of the numerical model. 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. Experimental results indicate reduction of force tracking error caused by Coulomb friction leading to improved test rig accuracy.

AB - This paper presents a method of friction compensation for a linear electric motor in a model in the loop suspension test rig. The suspension consists of a numerically modelled spring and damper, with inputs of suspension motion. The linear motor is force controlled using a force sensor to track the output of the numerical model. 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. Experimental results indicate reduction of force tracking error caused by Coulomb friction leading to improved test rig accuracy.

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