ESTIMATION AND CONTROL OF A RESONANT PLANT PRONE TO STICK-SLIP BEHAVIOR

摘要

A method and apparatus are provided for estimating and/or precluding stick-slip, or other oscillatory or resonant behavior, through use of a virtualtransducer, which precludes the need for having sensors located adjacent to adriven element of the system, or adjacent contact surfaces at which the stick-slip relative motion may occur. Parameters measurable at a drive mechanism areutilized for controlling a system in a manner which precludes stick-slip, orother oscillatory or resonant behavior, of the driven element. Relative motionbetween contacting surfaces in the driven element, prone to stick-slipbehavior, is controlled such that, after sufficient force is applied by thedrive element to overcome static friction forces between the contactingsurfaces and break them free from one another, relative motion between thesurfaces is maintained at a high enough relative speed that the surfaces areprecluded from statically contacting one another, so that stick-slip behavioris precluded.