REALTIME FRICTION ESTIMATION USING THE KALMAN INVERSE FILTER

Friction is a phenomena present in all mechanical systems and is undesirable for estimation and control tasks because it limits atainable performance. This paper characterizes transmission friction in an electric mining shovel and describes a method for estimating transmission friction based on the application of a Kalman inverse filter.

[1]  E. Rabinowicz,et al.  Friction and Wear of Materials , 1966 .

[2]  Norman D. Crump,et al.  A Kalman filter approach to the deconvolution of seismic signals , 1974 .

[3]  Brian Armstrong-Hélouvry,et al.  Control of machines with friction , 1991, The Kluwer international series in engineering and computer science.

[4]  H. L. Stalford,et al.  High-Alpha Aerodynamic Model Identification of T-2C Aircraft Using the EBM Method , 1981 .

[5]  E. O. Brigham,et al.  Application of the Kalman Filter to Continuous Signal Restoration , 1970 .

[6]  Carlos Canudas de Wit,et al.  Adaptive friction compensation in DC motor drives , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[7]  Laura R. Ray,et al.  Nonlinear Tire Force Estimation and Road Friction Identification: Simulation and Experiments, , 1997, Autom..

[8]  Yaakov Bar-Shalom,et al.  Estimation and Tracking: Principles, Techniques, and Software , 1993 .

[9]  Carlos Canudas de Wit,et al.  Adaptive friction compensation with partially known dynamic friction model , 1997 .

[10]  Robert F. Stengel,et al.  Determination of nonlinear aerodynamic coefficients using the estimation-before-modeling method , 1988 .

[11]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[12]  F. P. Bowden,et al.  The Friction and Lubrication of Solids , 1964 .

[13]  Laura E. Ray,et al.  Adaptive friction compensation using extended Kalman–Bucy filter friction estimation , 2001 .

[14]  Carlos Canudas de Wit,et al.  A survey of models, analysis tools and compensation methods for the control of machines with friction , 1994, Autom..

[15]  Laura Ryan Ray,et al.  Nonlinear state and tire force estimation for advanced vehicle control , 1995, IEEE Trans. Control. Syst. Technol..

[16]  L R Ray,et al.  Optimal filtering and Bayesian detection for friction-based diagnostics in machines. , 2001, ISA transactions.

[17]  P. Bliman.  Mathematical study of the Dahl's friction model , 1992 .

[18]  Carlos Canudas-de-Wit,et al.  Friction compensation for an industrial hydraulic robot , 1999 .