Maxwell Slip Model Based Identification and Control of Systems with Friction

摘要

The problem of identifying models suitable for friction compensation is addressed. A Maxwell Slip model identification method, capable of accounting for presliding friction hysteresis, is postulated and assessed. Identification is achieved via a single pair of displacement – applied force signals, without requiring a priori knowledge of physical parameters. The method is successfully assessed via Monte Carlo experiments, as well as via signals from a detailed physics based simulation model. Based upon these results, a simple feedforward control scheme is subsequently postulated and assessed. The results indicate that the scheme yields very effective friction compensation.