The state space control of a positioning system affected by torsional elasticity at the gearbox is considered, using a motor position transducer only. An output feedback, pole placement controller is used, with an additional integral action on the tracking error to cancel it at steady state. Both experiments and simulations point out that large oscillations may appear for some sets of closed-loop poles which yields, in contrast to stick-slip cycles, instantaneous motor velocity reversals. It is shown that such oscillations are induced by “pure” Coulomb friction. The period of the oscillations is predicted precisely following the Tsypkin’s relay control theory and also by the approximate describing function method. The latter also allows understanding of how oscillations depend on observer and feedback control design and on plant parameters; thus we are able to derive guidelines for the design of an oscillation free closed-loop system.
Skip Nav Destination
e-mail: ferretti@elet.polimi.it
e-mail: magnani@elet.polimi.it
Article navigation
June 1999
Technical Briefs
Coulomb Friction Limit Cycles in Elastic Positioning Systems
A. Bonsignore,
A. Bonsignore
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
Search for other works by this author on:
G. Ferretti,
G. Ferretti
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
e-mail: ferretti@elet.polimi.it
Search for other works by this author on:
G. Magnani
G. Magnani
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
e-mail: magnani@elet.polimi.it
Search for other works by this author on:
A. Bonsignore
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
G. Ferretti
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
e-mail: ferretti@elet.polimi.it
G. Magnani
Dipartimento di Elettronica e Informazione, Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133, Milano, Italy
e-mail: magnani@elet.polimi.it
J. Dyn. Sys., Meas., Control. Jun 1999, 121(2): 298-301 (4 pages)
Published Online: June 1, 1999
Article history
Received:
July 21, 1997
Online:
December 3, 2007
Citation
Bonsignore, A., Ferretti, G., and Magnani, G. (June 1, 1999). "Coulomb Friction Limit Cycles in Elastic Positioning Systems." ASME. J. Dyn. Sys., Meas., Control. June 1999; 121(2): 298–301. https://doi.org/10.1115/1.2802469
Download citation file:
Get Email Alerts
Cited By
Fault detection of automotive engine system based on Canonical Variate Analysis combined with Bhattacharyya Distance
J. Dyn. Sys., Meas., Control
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control (July 2025)
Related Articles
Stability of Controlled Mechanical Systems With Ideal Coulomb Friction
J. Dyn. Sys., Meas., Control (January,2008)
Pulse Width Control for Precise Positioning of Structurally Flexible Systems Subject to Stiction and Coulomb Friction
J. Dyn. Sys., Meas., Control (March,2004)
Dynamics and Control of Supercavitating Vehicles
J. Dyn. Sys., Meas., Control (March,2008)
A Control Theoretic Approach for Solving Underdetermined Problems and Its Application to Control Allocation
J. Dyn. Sys., Meas., Control (April,2016)
Related Proceedings Papers
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Post-Revival
Air Engines: The History, Science, and Reality of the Perfect Engine
Two Decades of Optimism
Air Engines: The History, Science, and Reality of the Perfect Engine