This paper presents a friction model-based frequency response analysis (FRA) method, which gives a precise linear mechanical dynamics model to design effective controllers and analyze accurate control characteristics for frictional servo systems. As well known, frequency-domain identification approaches using a sine sweep are widely used to obtain linear dynamics. However, nonlinear friction in the mechanism varies the apparent frequency-domain characteristic of the linear dynamics due to the nonlinearity. The proposed FRA estimates effective excitation thrust for actual linear dynamics in the sine sweep movement, by means of a friction model as well as a phase delay model. Theoretical analyses show that the proposed FRA can identify the correct linear dynamics, preventing influence of nonlinear friction as well as phase delay properties included in a plant system. The effectiveness of the proposed FRA is verified through theoretical analyses and experiments both in frequency and time domains, in comparison to two conventional FRA methods.

中文翻译：

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基于摩擦模型的摩擦伺服系统频率响应分析

本文提出了一种基于摩擦模型的频率响应分析（FRA）方法，该方法给出了精确的线性机械动力学模型，以设计有效的控制器并分析摩擦伺服系统的精确控制特性。众所周知，使用正弦扫描的频域识别方法被广泛用于获得线性动力学。但是，由于非线性，机构中的非线性摩擦会改变线性动力学的视在频域特性。拟议的FRA通过摩擦模型和相位延迟模型来估算正弦扫掠运动中实际线性动力学的有效激励推力。理论分析表明，提出的FRA可以识别正确的线性动力学，防止非线性摩擦的影响以及工厂系统中包含的相位延迟特性。与两种常规FRA方法相比，通过在频域和时域上的理论分析和实验，验证了所提出的FRA的有效性。