Continuous-time model identification of mechanical systems with nonlinear friction

2015 Fiscal Year Final Research Report

• Project/Area Number: 25820078
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Dynamics/Control
• Research Institution: Nara National College of Technology
• Principal Investigator: Sakai Fumitoshi 奈良工業高等専門学校, 機械工学科, 准教授 (80342533)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: システム同定 / 非線形摩擦 / 連続時間システム

Outline of Final Research Achievements

In order to achieve high precision position tracking performances in positioning systems, the friction phenomena must be taken into consideration during the development of control algorithm. For effective compensation, the value of the friction force must be known in every domain of operation of the mechanical systems.　This study presents a new identification method to obtain a continuous-time model of the mechanical systems with nonlinear friction. The method utilizes projection of measured signals onto a finite dimensional signal subspace. Its effectiveness is demonstrated through numerical example of a linear plant with nonlinear friction.

Free Research Field

制御工学