Friction identification method and friction identification device

• US 10,162,912 B2
• Filed: 09/17/2014
• Issued: 12/25/2018
• Est. Priority Date: 12/06/2013
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Fujita, Tomoya, Nagaoka, Kotaro
• Primary Examiner(s): Alhija, Saif A
• Application Number:
  US15/026,530
• Publication Number:
  US 20160239594A1
• Time in Patent Office: 1,560 Days
• Field of Search: 703 2
• CPC Class Codes: G05B 19/404 characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence
• CPC Class Codes: G05B 2219/41154 Friction, compensation for friction
• CPC Class Codes: G05B 2219/43022 Compensate for friction as function of position
• CPC Class Codes: G06F 17/11 for solving equations , e.g. nonlinear equations, general mathematical optimization problems optimization specially adapted for a specific administrative, business or logistic context G06Q10/04
• CPC Class Codes: G06F 30/20 Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30

Abstract

A friction identification method includes: measuring a relation between a driving force and a position of a driven object; identifying a parameter of a position-dependent friction model based on a relation between a driving force and a position of the driven object; measuring a relation between a driving force and a displacement of the driven object from a position at which a motion direction is reversed; identifying a parameter of a displacement-dependent friction model; measuring a relation between a driving force and a velocity of the driven object; identifying a parameter of a velocity-dependent friction model; measuring a relation between a driving force and an acceleration of the driven object; and identifying a parameter of an acceleration-dependent friction model.

Claims

1. A friction identification method performed by a fiction identification device that is connected to a control device which drives a motor to drive a driven object, the friction identification method comprising:

receiving a position, a displacement, a velocity, and an acceleration of the driven object, and a driving force from the control device;

measuring a relation between a driving force and a position of the driven object;

identifying;

a parameter of a position-dependent friction model based on a relation between a driving force and a position of the driven object;

measuring a relation between a driving force and a displacement of the driven object from a position at which a motion direction is reversed;

identifying;

a parameter of a displacement-dependent friction model by using a relation between a driving force and a displacement of the driven object, and by using the position-dependent friction model;

measuring a relation between a driving force and a velocity of the driven object;

identifying a parameter of a velocity-dependent friction model by, using a relation between a driving force and a velocity of the driven object, and by using the position-dependent friction model and the displacement-dependent friction model;

measuring a relation between a driving force and an acceleration of the driven object;

identifying a parameter of an acceleration-dependent friction model by using a relation between a driving force and an acceleration of the driven object, and by using the position-dependent friction model, the displacement-dependent friction model, and the velocity-dependent friction model and

outputting the parameters of the position-dependent friction model, the displacement-dependent friction model, the velocity-dependent friction model, and the acceleration-dependent friction model to the control device so that the control device drives the driven object using the parameters of the fiction models, each of the friction model being depending on a single state amount of the position, the displacement, the velocity, or the acceleration.

2. The friction identification method according to claim 1, wherein at the measuring the relation between a driving force and a position of the driven object, and at the measuring the relation between a driving force and a displacement of the driven object from a position at which a motion direction is reversed, the driven object is moved by a predetermined movement width and stopped repeatedly within a driving range of the driven object, to synchronously measure positions of the driven object and driving forces during the repetition.

3. The friction identification method according to claim 1, wherein at the identifying the parameter of a position-dependent friction model based on a relation between a driving force and a position of the driven object, a period, during which a velocity of the driven object becomes equal to or lower than a predetermined threshold, is detected to output a friction force in the period as a position-dependent fiction force at a position of the driven object.

4. The friction identification method according to claim 3, wherein at the identifying the parameter of the displacement-dependent friction model, a value that is obtained by excluding a friction force at a position of the driven object, which is calculated by using the position dependent friction model, from the driving force is output as a displacement-dependent friction force at a displacement of the driven object.

5. The friction identification method according to claim 1, wherein the measuring the relation between a driving force and a velocity of the driven object, and the measuring the relation between a driving force and an acceleration of the driven object are performed simultaneously.

6. The friction identification method according to claim 1, wherein at the measuring the relation between a driving force and a velocity of the driven object and at the step of measuring a relation between a driving force and an acceleration of the driven object, the driven object is reciprocated by a predetermined movement width within a driving range of the driven object at a predetermined velocity and a predetermined acceleration, and the reciprocation is repeated while changing either a velocity or an acceleration, or changing both a velocity and an acceleration, to synchronously measure positions of the driven object and driving forces during the reciprocation.

7. The friction identification method according to claim 5, wherein when the measuring the relation between a driving force and a velocity of the driven object, and the measuring the relation between a driving force and an acceleration of the driven object are performed simultaneously, a sine-wave motion command is given to the driven object.

8. The friction identification method according to claim 1, wherein at the identifying the parameter of the velocity-dependent friction model, a period, during winch an acceleration of the driven object becomes equal to or lower than a predetermined threshold is detected and a value obtained by excluding both a friction force at a position of the driven object, calculated by using the position-dependent friction model, and a friction force at a displacement of the driven object, calculated by using the displacement-dependent friction model, from a friction force in the period is output as a velocity-dependent friction force at a velocity of the driven object.

9. The friction identification method according to claim 1, wherein at the identifying the parameter of the acceleration-dependent friction model, a period, during which an acceleration of the driven object is constant, is detected and a value obtained by excluding a friction force at a position of the driven object, calculated by using the position-dependent friction model, a friction force at a displacement of the driven object, calculated by using the displacement-dependent friction model, and a friction force at a velocity of the driven object, calculated by using the velocity-dependent friction model, from a friction force in the period is output as an acceleration-dependent friction force at an acceleration of the driven object.

10. The friction identification method according to claim 1, further comprising outputting a parameter of the friction model.

11. A friction identification device that is connected to a control device which drives a motor to drive a driven object comprising:

a position-dependent friction measurement sensor that receives a position of the driven object and a driving farce from the control device and measures a relation between a driving force and the position of driven object;

a position-dependent friction identification module implemented by processing circuitry configured to identify a parameter of a position-dependent friction model based on a relation between a driving force and a position of the driven object;

a displacement-dependent friction measurement sensor that receives a displacement of the driven object and the driving force from the control device, and measures a relation between a driving force and the displacement of the driven object from a position at which a motion direction is reversed;

a displacement-dependent friction identification module implemented by the processing circuitry configured to identify a parameter of a displacement-dependent friction model by using a relation between a driving force and a displacement of the driven object, and by using the position-dependent friction model;

a velocity-dependent friction measurement sensor that receiving a velocity of the driven object and the driving force from the control device, and measures a relation between a driving force and a velocity of the driven object;

a velocity-dependent friction identification module implemented by the processing circuitry configured to identify a parameter of a velocity-dependent friction model by using a relation between a driving force and a velocity of the driven object, and by using the position-dependent friction model and the displacement-dependent friction model;

an acceleration-dependent friction measurement sensor that receives an acceleration of the driven object and the driving force from the control device, and measures a relation between a driving force and an acceleration of the driven object;

an acceleration-dependent friction identification module implemented by the processing circuitry configured to identify a parameter of an acceleration-dependent friction model by using a relation between a driving force and an acceleration of the driven object, and by using the position-dependent friction model, the displacement-dependent friction model, and the velocity-dependent friction model; and

a model transmission module implemented by the processing circuitry configured to output parameters of the position-dependent friction model, the displacement-dependent friction model, the velocity-dependent friction model, and the acceleration-dependent friction model, respectively, to the control device so that the control device drives the driven object using the parameters of the friction models, each of the friction model being depending on a single state amount of the position, the displacement, the velocity, or the acceleration.

12. A model-based friction force correction method, comprising:

measuring a relation between a driving force and a position of a driven object;

identifying a first parameter of a position-dependent friction model based on a relation between a driving force and a position of the driven object;

measuring a relation between a driving force and a displacement of the driven object from a position at which a motion direction is reversed;

identifying a second parameter of a displacement-dependent friction model by using a relation between a driving force and a displacement of the driven object, and by using the position-dependent fiction model;

measuring a relation between a driving force and a velocity of the driven object;

identifying a third parameter of a velocity-dependent friction model by using a relation between a driving force and a velocity of the driven object, and by using the position-dependent friction model and the displacement-dependent friction model;

measuring a relation between a driving force and an acceleration of the driven object;

identifying a fourth parameter of an acceleration-dependent friction model by using a relation between a driving force and an acceleration of the driven object, and by using the position-dependent friction model, the displacement-dependent friction model, and the velocity-dependent friction model; and

correcting, using processing circuitry, for an influence of the friction force on an accuracy of a contouring motion when performing feedback control for an electric motor based on the first, second, third and fourth parameters of respective friction models.