Adaptive bearing friction compensation based on recent knowledge of dynamic friction
type: Item
instance of: scholarly article
title: Adaptive bearing friction compensation based on recent knowledge of dynamic friction
zbMATH Open document ID: 0554.93041
DOI: 10.1016/0005-1098(84)90081-5
author: Craig D. Walrath
published in: Automatica
publication date: 1984-01-01T00:00:00Z
review text: Gimbal bearing friction is a major source of stabilization errors for airborne pointing and tracking systems. This paper describes a novel addition to conventional stabilization techniques. This addition contains a model in system software which predicts real-time friction torque values. This new, dynamic friction model, is adaptively adjusted into agreement with actual friction behavior by processing inputs from conventional system sensors. Measurements from these sensors cause on- line adjustment of model parameters, resulting in 'adaptive' compensator action. The model's output is used to generate an addition to conventional stabilization subsystem commands. The model-referenced compensator operates in a predictive, adaptive, feedforward manner to pre-condition the stabilization subsystem, reducing stabilization errors well below levels which are achievable through conventional feedback operation alone.
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93D15
Mathematics Subject Classification ID: 93B30
zbMATH DE Number: 3884043
zbMATH Keywords: bearing friction
zbMATH Keywords: dynamic friction model
zbMATH Keywords: compensator
zbMATH Keywords: feedforward
MaRDI profile type: Publication
full work available at URL: 0005-1098(84)90081-5
OpenAlex ID: W1976495419
cites work: Joint torque control by a direct feedback for industrial robots
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description: scientific article; zbMATH DE number 3884043