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      • Department of Mechanical Engineering
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      Nonlinear identification and optimal feedforward friction compensation for a motion platform

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      Embargo Lift Date: 2022-11-01
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      Author(s)
      Güç, Ahmet Furkan
      Yumrukçal, Z.
      Özcan, Onur
      Date
      2020
      Source Title
      Mechatronics
      Print ISSN
      0957-4158
      Publisher
      Elsevier
      Volume
      71
      Pages
      1 - 9
      Language
      English
      Type
      Article
      Item Usage Stats
      9
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      Abstract
      In this study, we present a method of nonlinear identification and optimal feedforward friction compensation for an industrial single degree of freedom motion platform. The platform has precise reference tracking requirements while suffering from nonlinear dynamic effects, such as friction and backlash in the driveline. To eliminate nonlinear dynamic effects and achieve precise reference tracking, we first identified the nonlinear dynamics of the platform using Higher Order Sinusoidal Input Describing Function (HOSIDF) based system identification. Next, we present optimal feedforward compensation design to improve reference tracking performance. We modeled the friction using the Stribeck model and identified its parameters through a procedure including a special reference signal and the Nelder–Mead algorithm. Our results show that the RMS trajectory tracking error decreased from 0.0431 deg/s to 0.0117 deg/s when the proposed nonlinear identification and friction compensation method is utilized.
      Keywords
      Nonlinear systems
      System identification
      Friction compensation
      Feedforward control
      Permalink
      http://hdl.handle.net/11693/75816
      Published Version (Please cite this version)
      https://dx.doi.org/10.1016/j.mechatronics.2020.102408
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