论文标题
分析基于继电器的反馈补偿库仑摩擦
Analysis of relay-based feedback compensation of Coulomb friction
论文作者
论文摘要
用库仑摩擦的一级机械系统的标准问题进行了修订，以进行基于中继的反馈稳定。回想起，这种具有库仑摩擦的系统是通过基于继电器的输出反馈渐近稳定的，如[1]中所示。假设上限的库仑摩擦干扰，通过最大程度地减少[2]中提出的lyapunov函数的衍生物，可以找到基于继电器的反馈控制的时间优势增益。此外，从不连续的库仑摩擦转变为更不连续性的摩擦，这意味着运动逆转时的瞬时预阶段，我们分析了残留的稳态振荡。这是从稳定的极限周期的意义上，除了由执行器动力学引起的颤动。提供的分析伴随着数值示例和实验案例研究。
Standard problem of one-degree-of-freedom mechanical systems with Coulomb friction is revised for a relay-based feedback stabilization. It is recalled that such a system with Coulomb friction is asymptotically stabilizable via a relay-based output feedback, as formerly shown in [1]. Assuming an upper bounded Coulomb friction disturbance, a time-optimal gain of the relay-based feedback control is found by minimizing the derivative of the Lyapunov function proposed in [2] for the twisting algorithm. Furthermore, changing from the discontinuous Coulomb friction to a more physical discontinuity-free one, which implies a transient presliding phase at motion reversals, we analyze the residual steady-state oscillations. This is in the sense of stable limit cycles, in addition to chattering caused by the actuator dynamics. The numerical examples and an experimental case study accompany the provided analysis.
