Abstract In this study, we present a method of nonlinear identification and optimal feedforward friction compensation for an industrial single degree of freedom motion platform. The platform has precise reference tracking requirements while suffering from nonlinear dynamic effects, such as friction and backlash in the driveline. To eliminate nonlinear dynamic effects and achieve precise reference tracking, we first identified the nonlinear dynamics of the platform using Higher Order Sinusoidal Input Describing Function (HOSIDF) based system identification. Next, we present optimal feedforward compensation design to improve reference tracking performance. We modeled the friction using the Stribeck model and identified its parameters through a procedure including a special reference signal and the Nelder–Mead algorithm. Our results show that the RMS trajectory tracking error decreased from 0.0431 deg/s to 0.0117 deg/s when the proposed nonlinear identification and friction compensation method is utilized.

中文翻译：

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运动平台非线性辨识与最佳前馈摩擦补偿

摘要 在这项研究中，我们提出了一种工业单自由度运动平台的非线性辨识和最佳前馈摩擦补偿方法。该平台具有精确的参考跟踪要求，同时会受到非线性动态效应的影响，例如传动系统中的摩擦和间隙。为了消除非线性动态效应并实现精确的参考跟踪，我们首先使用基于高阶正弦输入描述函数 (HOSIDF) 的系统识别来识别平台的非线性动态。接下来，我们提出了最佳前馈补偿设计，以提高参考跟踪性能。我们使用 Stribeck 模型对摩擦进行建模，并通过包括特殊参考信号和 Nelder-Mead 算法在内的程序确定其参数。