Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2023
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2311.16533 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866910544218292224 |
|---|---|
| author | Dasanayake, Nimantha Perera, Shehara |
| author_facet | Dasanayake, Nimantha Perera, Shehara |
| contents | In order to provide robust, reliable, and accurate position and velocity control of motor drives, friction compensation has emerged as a key difficulty. Non-characterised friction could give rise to large position errors and vibrations which could be intensified by stick-slip motion and limit cycles. This paper presents an application of two data-driven nonlinear model identification techniques to discover the governing equations of motor dynamics that also characterise friction. Namely, the extraction of low-power data from time-delayed coordinates of motor velocity and sparse regression on nonlinear terms was applied to data acquired from a Brushless DC (BLDC) motor, to identify the underlying dynamics. The latter can be considered an extension of the conventional linear motor model commonly used in many model-based controllers. The identified nonlinear model was then contrasted with a nonlinear model that included the LuGre friction model and a linear model without friction. A nonlinear grey box model estimation method was used to calculate the optimum friction parameters for the LuGre model. The resulting nonlinear motor model with friction characteristics was then validated using a feedback friction compensation algorithm. The novel model showed more than 90% accuracy in predicting the motor states in all considered input excitation signals. In addition, the model-based friction compensation scheme showed a relative increase in performance when compared with a system without friction compensation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2311_16533 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Motor State Prediction and Friction Compensation for Brushless DC Motor Drives Using Data-Driven Techniques Dasanayake, Nimantha Perera, Shehara Systems and Control In order to provide robust, reliable, and accurate position and velocity control of motor drives, friction compensation has emerged as a key difficulty. Non-characterised friction could give rise to large position errors and vibrations which could be intensified by stick-slip motion and limit cycles. This paper presents an application of two data-driven nonlinear model identification techniques to discover the governing equations of motor dynamics that also characterise friction. Namely, the extraction of low-power data from time-delayed coordinates of motor velocity and sparse regression on nonlinear terms was applied to data acquired from a Brushless DC (BLDC) motor, to identify the underlying dynamics. The latter can be considered an extension of the conventional linear motor model commonly used in many model-based controllers. The identified nonlinear model was then contrasted with a nonlinear model that included the LuGre friction model and a linear model without friction. A nonlinear grey box model estimation method was used to calculate the optimum friction parameters for the LuGre model. The resulting nonlinear motor model with friction characteristics was then validated using a feedback friction compensation algorithm. The novel model showed more than 90% accuracy in predicting the motor states in all considered input excitation signals. In addition, the model-based friction compensation scheme showed a relative increase in performance when compared with a system without friction compensation. |
| title | Motor State Prediction and Friction Compensation for Brushless DC Motor Drives Using Data-Driven Techniques |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2311.16533 |