Method and system for adaptive compensation of dry friction
US10591876B2 · kind B2 · utility
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17Claims
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Key dates
| Filing date | Nov 18, 2015 |
| Grant date | Mar 17, 2020 |
| Priority date | — |
| Expiry date | Oct 17, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F17/14
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A dry friction compensation method for at least one mass or inertia M mobile under the effect of at least one effector element controlled by a force or torque control signal U, the motion of the mass or inertia being characterized by a motion signal Y chosen among one or several of the position X, the speed V and the acceleration, the method includes: defining an ideal model of the closed loop; defining a dry friction compensation control law; the dry friction compensation control law being based on the following friction model:
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