Online friction parameter estimation for machine tools

Dimitrios Papageorgiou*, Mogens Blanke, Hans Henrik Niemann, Jan H. Richter

*Corresponding author for this work

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Accurate description of frictional phenomena is essential in applications that require high-accuracy control. Online monitoring of friction parameters in machine tools greatly improves the control accuracy making condition-based feedforward compensation possible and, at the same time, facilitates equipment wear assessment, which enables efficient scheduling of maintenance. Existing friction estimation methods that use detailed dynamical models offer accurate description of friction phenomena, but often rely on a-priori knowledge of the static friction parameters, which have to
be identified offline. This paper suggests an adaptive estimation strategy suitable for online use while the machine works in its normal production cycle. Smooth approximations to are introduced to account for stiction, viscous and bidirectional Coulomb friction in order to make online estimation possible. A parallel architecture is used with two adaptive estimators that segregate the frictional phenomena that dominate in different parts of the motion regime. Stability properties are analysed and performance is experimentally validated on a single-axis state-of-the-art industrial test rig.
Original languageEnglish
Article numbere28
JournalAdvanced Control for Applications: Engineering and Industrial Systems
Number of pages28
Publication statusPublished - 2020


  • Friction estimation
  • Machine tool drive
  • Stiction
  • Adaptive estimator
  • Nonlinear parameterisation
  • Experimental validation
  • Wear assessment
  • Cascaded systems

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