Title:
FRICTION IDENTIFICATION METHOD AND FRICTION IDENTIFICATION DEVICE
Document Type and Number:
WIPO Patent Application WO/2015/083417
Kind Code:
A1
Abstract:
A friction identification method of an embodiment involves: a step wherein the relationship between a position of a body to be driven and a driving force is measured; a step wherein a parameter of a position-dependent friction model is identified from the position-driving force relationship; a step in which the relationship between a displacement from a movement-direction reversal position and a driving force is measured; a step wherein a parameter of a displacement-dependent friction model is identified using the displacement-driving force relationship and position-dependent friction model; a step wherein the relationship between a speed and a driving force is measured; a step wherein a parameter of a speed-dependent friction model is identified using the speed-driving force relationship, position-dependent friction model, and displacement-dependent friction model; a step wherein the relationship between an acceleration rate and a driving force is measured; and a step wherein a parameter of an acceleration-dependent friction model is identified using the acceleration-driving force relationship, position-dependent friction model, displacement-dependent friction model, and speed-dependent friction model.
Inventors:
FUJITA TOMOYA (JP)
NAGAOKA KOTARO (JP)
NAGAOKA KOTARO (JP)
Application Number:
PCT/JP2014/074589
Publication Date:
June 11, 2015
Filing Date:
September 17, 2014
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G05D3/12; G05B19/404; G05B23/02
Foreign References:
| JP2011175308A | 2011-09-08 | |||
| JP2007257515A | 2007-10-04 | |||
| JP2011221612A | 2011-11-04 |
Attorney, Agent or Firm:
SAKAI, HIROAKI (JP)
Hiroaki Sakai (JP)
Hiroaki Sakai (JP)
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