A new identification method of the Stribeck friction model based on limit cycles

2014 ◽  
Vol 228 (15) ◽  
pp. 2678-2683 ◽  
Author(s):  
LL Liu ◽  
ZY Wu
Keyword(s):  
Parameter Identification ◽  
Limit Cycle ◽  
Limit Cycles ◽  
Friction Model ◽  
Limit Cycle Oscillation ◽  
Characteristic Parameters ◽  
Chain Code ◽  
Shape Characteristic ◽  
Identification Method ◽  
Model Based

This paper presents a new parameter identification method of the Stribeck friction model based on limit cycles. A single degree of freedom mass spring system driven by a belt is studied, and the Stribeck friction model is established between the mass and belt. Limit cycle oscillation will occur when the system is unstable. The limit cycle curve is described by some main shape characteristic parameters using the modified Freeman chain code method. Thus, the Stribeck friction parameters can be identified by using the ergodic search method to minimize the Euclidean distance of the theoretical and identified limit cycle shape characteristic parameters. The parameter identification method based on limit cycles is different from the traditional identification methods. It only needs the displacement and velocity responses of the system instead of the measurement of the friction force or motor voltage/current. All of these works can provide the reference for the research work of the friction parameter identification.

scholarly journals Limit cycle oscillation control and suppression

1999 ◽  
Vol 103 (1023) ◽  
pp. 257-263 ◽  
Author(s):  
G. Dimitriadis ◽  
J. E. Cooper
Keyword(s):  
Limit Cycle ◽  
Limit Cycles ◽  
Harmonic Balance Method ◽  
Limit Cycle Oscillation ◽  
Aeroelastic System ◽  
Oscillation Control ◽  
Control Scheme ◽  
Non Linear ◽  
Cycle Oscillation ◽  
The Stability

Abstract The prediction and characterisation of the limit cycle oscillation (LCO) behaviour of non-linear aeroelastic systems has become of great interest recently. However, much of this work has concentrated on determining the existence of LCOs. This paper concentrates on LCO stability. By considering the energy present in different limit cycles, and also using the harmonic balance method, it is shown how the stability of limit cycles can be determined. The analysis is then extended to show that limit cycles can be controlled, or even suppressed, by the use of suitable excitation signals. A basic control scheme is developed to achieve this, and is demonstrated on a simple simulated non-linear aeroelastic system.

Limit cycle oscillation and multiple entrainment phenomena in a duffing oscillator under time-delayed displacement feedback

2015 ◽  
Vol 23 (17) ◽  
pp. 2742-2756 ◽  
Author(s):  
RK Mitra ◽  
S Chatterjee ◽  
AK Banik
Keyword(s):  
Frequency Response ◽  
Limit Cycle ◽  
Limit Cycles ◽  
Duffing Oscillator ◽  
A Priori ◽  
High Amplitude ◽  
Limit Cycle Oscillation ◽  
Global Dynamics ◽  
Response Curves ◽  
Damped System

The Duffing oscillator under time-delayed displacement feedback is investigated to study the effect of intentional time-delay on the global dynamics of the oscillator. From the free vibration study performed by employing the describing function method it is observed that for the undamped oscillator, an infinite number of limit cycles is present for all possible values of gain and delay. The number of stable and unstable limit cycles in the gain versus delay plane is studied region wise with the help of limit cycle stability lines. Secondly, in a damped system, the number of limit cycles is finite and depends upon the values of gain, delay and damping coefficient from which the maximum number of limit cycles, their frequencies and amplitudes are obtained. When the system is excited by harmonic forcing, these limit cycles exhibit the phenomena of multiple entrainments and their frequency response curves become very complex and most often results in the very high amplitude oscillations. The study of the forced damped oscillator is therefore carried out by applying the method of slowly varying parameter and the frequency response curves for period-1 responses are analyzed. Further, with the a priori knowledge of possible stable and unstable limit cycles obtained by the application of semi-analytical methods, the various instability phenomena due to subharmonic and quasiperiodic responses have also been investigated by numerical simulation using Simulink in the different parametric ranges.

scholarly journals An improved parameter identification method of redundant manipulator

2021 ◽  
Vol 18 (2) ◽  
pp. 172988142110021
Author(s):  
Shi-Ping Liu ◽  
Zi-Yan Ma ◽  
Jin-Liang Chen ◽  
Jun-Feng Cao ◽  
Yan Fu ◽  
...  
Keyword(s):  
Parameter Identification ◽  
Viscous Friction ◽  
Dynamic Parameter ◽  
High Accuracy ◽  
Friction Model ◽  
Service Robot ◽  
Redundant Manipulator ◽  
Spinor Theory ◽  
Identification Method ◽  
Optimization Function

To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the redundant manipulator. In the study, the spinor theory is applied to the Newton–Euler dynamic equation, the Coulomb + viscous friction model is adopted, and the minimum parameter set is obtained by linearization derivation. The parameter identification of the manipulator is realized using the method of offline identification of the measured current, and the coefficient of the excitation trajectory is optimized using the nonlinear optimization function. Finally, the parameter set with high accuracy is obtained, and the motion trajectory of each joint can be obtained. The scheme has high accuracy and can meet the needs of practical application. To verify the accuracy and reliability of this method, we have carried out experiments on a service robot “Walker” and obtained the desired results.

scholarly journals An Asymmetric Hysteresis Model and Parameter Identification Method for Piezoelectric Actuator

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Haichen Qin ◽  
Ningbin Bu ◽  
Wei Chen ◽  
Zhouping Yin
Keyword(s):  
Parameter Identification ◽  
Smart Materials ◽  
Model Parameters ◽  
Hysteresis Model ◽  
Pzt Actuator ◽  
Modified Particle Swarm Optimization ◽  
Identification Method ◽  
Model Based ◽  
Asymmetric Factor ◽  
Hysteresis Behaviour

Hysteresis behaviour degrades the positioning accuracy of PZT actuator for ultrahigh-precision positioning applications. In this paper, a corrected hysteresis model based on Bouc-Wen model for modelling the asymmetric hysteresis behaviour of PZT actuator is established by introducing an input biasφand an asymmetric factorΔΦinto the standard Bouc-Wen hysteresis model. A modified particle swarm optimization (MPSO) algorithm is established and realized to identify and optimize the model parameters. Feasibility and effectiveness of MPSO are proved by experiment and numerical simulation. The research results show that the corrected hysteresis model can represent the asymmetric hysteresis behaviour of the PZT actuator more accurately than the noncorrected hysteresis model based on the Bouc-Wen model. The MPSO parameter identification method can effectively identify the parameters of the corrected and noncorrected hysteresis models. Some cases demonstrate the corrected hysteresis model and the MPSO parameter identification method can be used to model smart materials and structure systems with the asymmetric hysteresis behaviour.

scholarly journals An Improved Redundant Robotic Arm Parameter Identification Method

2020 ◽  
Author(s):  
Shi-Ping Liu ◽  
Ziyan Ma ◽  
Jin-Liang Chen ◽  
Jun-Feng Cao ◽  
Yan Fu ◽  
...  
Keyword(s):  
Parameter Identification ◽  
Linear Optimization ◽  
Viscous Friction ◽  
Friction Model ◽  
Robotic Arm ◽  
Identification Method ◽  
Observation Matrix ◽  
Optimization Function ◽  
Minimum Number ◽  
Actual Control

Abstract In order to establish the dynamic model of redundant robotic arm more accurately, this paper studies the identification method of the dynamic parameters of redundant robotic arm. A method of introducing the theory of spins based on the Newton-Euler dynamics equations, and using the Coulomb + viscous friction model to further derive the minimum parameter set through linearization is proposed. The method of offline identification of current measurement is used to realize the parameter identification of the robotic arm. The excitation trajectory is designed in the basic form of Fourier series. The non-linear optimization function is used to optimize the coefficient of the trajectory with the minimum number of conditions in the observation matrix as the goal Therefore, the available joint trajectories are obtained, and the obtained parameter set has high accuracy and can meet the needs of actual control. Finally, the method was experimentally tested by actual robot Walker, which verified the accuracy and effectiveness of the proposed method.

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