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.
|Journal||Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science|
|Early online date||24 Jun 2015|
|Publication status||Published - Jul 2016|
- force control; friction compensation; permanent-magnet linear motor; model in the loop (MIL); substructuring; hybrid experimental/numerical testing