Dynamic Friction Characterization of a Linear Servo Motor Using an Optimal Sinusoidal Reference Tracking Controller | Zendy

Danial Waleed | Zendy; Hafiz Muhammad Usman | Zendy; Rached Dhaouadi | Zendy

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Dynamic Friction Characterization of a Linear Servo Motor Using an Optimal Sinusoidal Reference Tracking Controller

Author(s) -

Danial Waleed,

Hafiz Muhammad Usman,

Rached Dhaouadi

Publication year - 2018

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2018.p1014

Subject(s) - control theory (sociology) , voice coil , servomechanism , tracking (education) , controller (irrigation) , hysteresis , nonlinear system , servomotor , linear motor , servo , computer science , control engineering , electromagnetic coil , engineering , control (management) , physics , artificial intelligence , mechanical engineering , psychology , pedagogy , agronomy , quantum mechanics , biology , electrical engineering

This letter presents the design of an optimal sinusoidal tracking and disturbance rejection controller for a linear voice-coil motor. The optimal tracking and disturbance rejection system is used to characterize the nonlinear dynamic friction of the servo motor. The control scheme allows investigating the hysteresis characteristics of friction as a function of frequency. Experimental results indicate the effectiveness of the proposed identification procedure for the dynamic friction estimation.

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