Analysis of a two-relay system configuration with application to coulomb friction identification

摘要

This paper presents an analysis of a class of two-relay feedback systems,, motivated by the idea of estimating a relay-type nonlinearity on the feedback path of a plant by adding another relay. The time response of the resulting system is firstanalyzed, and stability conditions for possible limit cycles are then proposed using Poincare's method. On this basis, a simple procedure for estimating the unknown value (e.g. Coulomb friction) of the relay on a plant feedback, by a closed-loopexperiment, is finally presented and illustrated on both simulated and real-time examples.