Title:
摩擦補償装置
Document Type and Number:
Japanese Patent JP7293905
Kind Code:
B2
Abstract:
To provide a friction compensation device that simultaneously considers static and dynamic friction characteristics by a simple friction model, estimates friction with high accuracy even during speed inversion, and enables compensation for the friction.SOLUTION: A friction compensation device includes friction compensation amount estimation means for estimating a friction compensation amount to be added to output from a speed feedback control system by using a friction model including a speed of a driven body, a rising coefficient of a frictional force, a Coulomb frictional force, and the like. The estimation means comprises a model parameter calculation unit 60 that uses the input/output information of a servo control system and the friction model to identify the rising coefficient, the Coulomb friction force, and the like, as parameters, and updates the parameters under different acceleration conditions; and a model based friction compensation unit 70 that initializes the friction compensation amount using the parameters, acquires a relationship between multiple accelerations and rising coefficients while adjusting the Coulomb friction force so that errors in the control amount near speed inversion are minimized, and estimates the friction compensation amount based on the relationship, the speed information, and the Coulomb friction force.SELECTED DRAWING: Figure 1
Inventors:
Xu Jinbei
Takayuki Kaneko
Takashi Hayashi
Takayuki Kaneko
Takashi Hayashi
Application Number:
JP2019116155A
Publication Date:
June 20, 2023
Filing Date:
June 24, 2019
Export Citation:
Assignee:
Fuji Electric Co., Ltd.
International Classes:
G05D3/12
Domestic Patent References:
| JP2001231280A | ||||
| JP2011186669A | ||||
| JP2016164697A |
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Tadahiko Ito