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Methods for Automatic Estimation of Inertial, Coulomb and Viscous Friction in Mechanical Systems

A kinematic system, Coulomb friction technology, applied in the field of inertia and friction coefficient, can solve the problems of not giving accurate values, time-consuming, troublesome, etc.

Active Publication Date: 2020-12-22
DANFOSS POWER ELECTRONICS AS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Such calculations can be cumbersome and time-consuming, and may not give accurate values ​​for these important parameters

Method used

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  • Methods for Automatic Estimation of Inertial, Coulomb and Viscous Friction in Mechanical Systems
  • Methods for Automatic Estimation of Inertial, Coulomb and Viscous Friction in Mechanical Systems
  • Methods for Automatic Estimation of Inertial, Coulomb and Viscous Friction in Mechanical Systems

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Embodiment Construction

[0021] The systems and methods described herein relate to techniques for generating estimated inertial, viscous and Coulomb coefficients of friction for controlled mechanical systems. One or more embodiments of the present disclosure may estimate these parameters in a substantially automated manner by running the mechanical system through a test sequence, which will be defined in more detail herein. The results of this test sequence can be used to generate accurate inertial, viscous and Coulomb coefficient of friction estimates for the system. These estimated parameters can then be used to facilitate simplified and precise tuning and control of the kinematic system.

[0022] figure 2 is a simplified diagram of the closed-loop motion control architecture. Controller 202 is programmed to control motor 204 that drives mechanical load 206 . Controller 202, motor 204, and load 206 comprise the main components of an exemplary motion control system. In example applications, payl...

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Abstract

Systems and methods for estimating an inertia, a Coulomb friction coefficient, and a viscous friction coefficient for a controlled mechanical system are provided. In one or more embodiments, an inertia and friction estimation system can generate a torque command signal that varies continuously over time during a testing sequence. The velocity of a motion system in response to the time-varying torque command signal is measured and recorded during the testing sequence. The estimation system then estimates the inertia and the friction coefficients of the motion system based on the torque command data sent to the motion system and the measured velocity data. In some embodiments, the estimation system estimates the inertia and the friction coefficients based on integrals of the torque command data and the velocity data.

Description

technical field [0001] The present disclosure relates generally to motion control and, more particularly, to estimating coefficients of inertia and friction for use as parameters in motion control systems. Background technique [0002] Many automation applications employ motion control systems to control the position and speed of machines. Such motion control systems typically include one or more motors or similar actuators operating under the direction of a controller that sends position and velocity control commands to the motors according to a user-defined control algorithm. Some motion control systems operate in a closed-loop configuration whereby the controller instructs the motor to move to a target position or transition to a target speed (desired state) and receives feedback information indicative of the actual state of the motor. The controller monitors the feedback information to determine whether the motor has reached the target position or speed, and adjusts the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F3/01H02P1/04H04N5/225H04N7/18
CPCG01M1/10G01M13/025G01N19/02
Inventor 田刚
Owner DANFOSS POWER ELECTRONICS AS