Nonlinear identification and optimal feedforward friction compensation for a motion platform

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buir.advisorÖzcan, Onur
dc.contributor.authorGüç, Ahmet Furkan
dc.date.accessioned2020-06-24T13:34:43Z
dc.date.available2020-06-24T13:34:43Z
dc.date.copyright2020-06
dc.date.issued2020-06
dc.date.submitted2020-06
dc.departmentDepartment of Mechanical Engineeringen_US
dc.descriptionCataloged from PDF version of article.en_US
dc.descriptionThesis (M.S.): Bilkent University, Department of Mechanical Engineering, İhsan Doğramacı Bilkent University, 2020.en_US
dc.descriptionIncludes bibliographical references (leaves 64-69).en_US
dc.description.abstractWe present a method of nonlinear identification and optimal feedforward friction compensation procedure for an industrial single degree of freedom motion platform. The platform suffers from nonlinear dynamic effects, such as friction and backlash in the driveline, along with precise reference tracking requirements. In order to eliminate the nonlinear dynamic effects and obtain precise reference tracking, we first identified the system using nonparametric identification with Best Linear Approximation (BLA). Next, the feedback controller is implemented as a classical PI controller and it is designed using loop shaping techniques so that the system meets the linear system requirements. Then, we identified the nonlinear dynamics of the platform using Higher Order Sinusoidal Input Describing Function (HOSIDF) based system identification and we present optimal feedforward compensation design to improve reference tracking performance. We modeled the friction characteristics using the Stribeck friction model and identified through a procedure with a special reference signal and the Nelder-Mead algorithm. Results indicate that the RMS trajectory error decreased from 0.0431 deg/s to 0.0117 deg/s, and standart deviation of speed reference error integral decreased from 0.0382 deg to 0.0051 deg, when the proposed nonlinear identification and friction compensation method is used.en_US
dc.description.degreeM.S.en_US
dc.description.provenanceSubmitted by Betül Özen (ozen@bilkent.edu.tr) on 2020-06-24T13:34:43Z No. of bitstreams: 1 thesis_FurkanGuc_v11.pdf: 17784533 bytes, checksum: c32cc5a964da0ee4bc05ba07aa7d3255 (MD5)en
dc.description.provenanceMade available in DSpace on 2020-06-24T13:34:43Z (GMT). No. of bitstreams: 1 thesis_FurkanGuc_v11.pdf: 17784533 bytes, checksum: c32cc5a964da0ee4bc05ba07aa7d3255 (MD5) Previous issue date: 2020-06en
dc.description.statementofresponsibilityby Ahmet Furkan Güçen_US
dc.embargo.release2020-12-09
dc.format.extentxii, 69 leaves : illustrations, charts ; 30 cm.en_US
dc.identifier.itemidB160321
dc.identifier.urihttp://hdl.handle.net/11693/53693
dc.language.isoEnglishen_US
dc.publisherBilkent Universityen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectFeedforward controlen_US
dc.subjectFriction compensationen_US
dc.subjectSystem identificationen_US
dc.subjectNonlinear systemsen_US
dc.titleNonlinear identification and optimal feedforward friction compensation for a motion platformen_US
dc.title.alternativeBir hareket platformu için doğrusal olmayan tanılama ve optimal ileri besleme sürtünme kompanzasyonuen_US
dc.typeThesisen_US

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