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The application of a dual-relay feedback approach toward the identification of a model of servomechanical system will be presented in this paper. The model will capture the linear dynamics of the system, as well as the frictional forces affecting the system, through a comprehensive friction model that includes static friction, Coulomb friction, viscous friction, and the boundary lubrication velocity...
In this paper, a systematic procedure to identify a comprehensive version of friction model via limit cycle experiments using dual-channel relay feedback apparatus is presented and demonstrated on a 3-D Cartesian robotic system. This friction model, which contains static, Coulomb and viscous friction with Sticbeck effect, can describe the friction behaviour when the servo system operates at both low...
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