Publication result detail

Relay Feedback Experiment for Coulomb Friction Identification

BESANCON-VODA, A., BLAHA, P.

Original Title

Relay Feedback Experiment for Coulomb Friction Identification

English Title

Relay Feedback Experiment for Coulomb Friction Identification

Type

Paper in proceedings (conference paper)

Original Abstract

The paper shows that feedback relay experiment can be used not only for automatic tuning of PID controllers, but also for identifying some relay nonlinearity of the plant. It considers systems in uenced by an inherent relay andcontrolled by another relay introduced in feedback. Frequency behaviour of this two-relay system configuration is reported - the inherent relay models Coulomb friction and the other controls the system's output and produces limit cycles. The first harmonic approximation by means of the describing function yields an algorithm for the estimation of Coulomb friction tested on illustrative examples.

English abstract

The paper shows that feedback relay experiment can be used not only for automatic tuning of PID controllers, but also for identifying some relay nonlinearity of the plant. It considers systems in uenced by an inherent relay andcontrolled by another relay introduced in feedback. Frequency behaviour of this two-relay system configuration is reported - the inherent relay models Coulomb friction and the other controls the system's output and produces limit cycles. The first harmonic approximation by means of the describing function yields an algorithm for the estimation of Coulomb friction tested on illustrative examples.

Keywords

relay feedback, describing function, limit cycles, Coulomb friction

Key words in English

relay feedback, describing function, limit cycles, Coulomb friction

Authors

BESANCON-VODA, A., BLAHA, P.

Released

05.04.2000

Publisher

Vapor Universitari

Location

Barcelona, Spain

ISBN

0-08-043624-2

Book

Past, Present and Future of PID Control

Pages from

123

Pages count

6

BibTex

@inproceedings{BUT4569,
  author="Alina {Besancon-Voda} and Petr {Blaha}",
  title="Relay Feedback Experiment for Coulomb Friction Identification",
  booktitle="Past, Present and Future of PID Control",
  year="2000",
  pages="6",
  publisher="Vapor Universitari",
  address="Barcelona, Spain",
  isbn="0-08-043624-2"
}