Brief Asymptotic analysis of the dither effect in systems with friction

Authors:
Anatoli A. Pervozvanski;Carlos Canudas-De-Wit
Affiliations:
Department of Mechanics and Control Processes, SPbSTU, 29 Politekhnicheskaja, 195251, St. Petersburg, Russia;Laboratoire d'Automatique de Grenoble, INPG-CNRS (UMR5528), ENSIEG-BP 46, 38402 Saint Martin d'Hères Cedex, France
Venue:
Automatica (Journal of IFAC)
Year:
2002

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A survey of models, analysis tools and compensation methods for the control of machines with friction

Automatica (Journal of IFAC)

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Abstract

In this paper we revisited the effect of dither signal in servo-drives with dynamic friction. In opposition to existing results based on memoryless friction models, the average effect of friction can be qualified in terms of amplitude and frequency of the dither signal. This result is obtained by a new proposed modification of singular perturbation theory that, in particular, allows the stabilizing effect of the dither to be rigorously proved. Experimental results showing the stick-slip extinction are also presented.