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Fractional order Coulomb friction compensation and experimental validation on a fractional horsepower dynamometer

Fractional order Coulomb friction compensation and experimental validation on a fractional horsepower dynamometer. Sara Dadras 1,2 Hadi Malek 2 YangQuan Chen 2 1 Tarbiat Modares University, Tehran, Iran

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Fractional order Coulomb friction compensation and experimental validation on a fractional horsepower dynamometer

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  1. Fractional order Coulomb friction compensation and experimental validation on a fractional horsepower dynamometer Sara Dadras 1,2 Hadi Malek 2 YangQuan Chen 2 1 Tarbiat Modares University, Tehran, Iran 2 Center of Self-Organizing and Intelligent Systems (CSOIS), ECE Department, Utah State University, Logan, UT, USA March 5, 2012

  2. Outline • Fiction model • IO Adaptive friction compensation (IO-AFC) • FO Adaptive friction compensation (FO-AFC) • Method I • Method II • Simulation results • Experimental results • Conclusion

  3. Friction model • The friction is a nonlinear phrnomrnon that exist in many real world applications. Fot the servo control system, it is dependent on the state of the motor and its environment. The friction model considered here is based on the Friedland, et al paper [1]

  4. Friction model • So, the dynamic equation of the motor, i.e. the velocity dynamics, can be written as follows where w is the force due to all sources other than friction. It is assumed that this component w of the total force and the velocity v are measurable quantities.

  5. IO-AFC • An Integer order estimator for undermined parameter a in the friction model can be presented as follows

  6. FO-AFC (Method I) • A fractional order estimator for undermined parameter a in the friction model can be presented as follows

  7. FO-AFC • To study the performance of the observer, consider the error between the actual parameter a and its estimate • Using fractional differentiator, we have

  8. FO-AFC

  9. FO-AFC (Method II)

  10. Simulation results

  11. Simulation results

  12. Simulation results

  13. Simulation results

  14. Simulation results

  15. Simulation results

  16. Simulation results

  17. Experimental results

  18. Experimental results

  19. Experimental results

  20. Experimental results

  21. Conclusion • A fractional order adaptive scheme is proposed for the Coulomb friction compensation in a servo control system. • The design procedure of the proposed control scheme is very simple and its application is easy. The comparison shows that the fractional order compensator has less tracking error. • A fractional horsepower dynamometer was developed as a general purpose hardware-in-the-loop real-time simulation platform to emulate Coulomb friction as a mechanical nonlinearity. The simulation and experimental results demonstrate that the proposed controller has a good performance and diminishes friction characteristics.

  22. Reference [1] B. Friedland, Y.J. Park, “On adaptive friction compensation,” IEEE Transactions on Automatic Control, Vol. 37, Issue 10, pp. 1609-1612, 1992.

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