Model-Free Algorithm for Friction Torque Adaptive Identification and Compensation

In order to solve the electro-hydraulic system position tracking control problem, which caused by the nonlinear system friction torque disturbance, a model-free algorithm for the friction torque adaptive identification and compensation was put forward. The algorithm is based on the application mathematics knowledge and matching & following principle. It can accommodate to all situations with the friction torque (force) variety. The simulation result indicates that the algorithm can restrains the interference of the friction torque (force) effectively, and the system’s low speed character and tracking performance were been improved.