| 摘要 |
The method involves generating a periodic movement of a total mass (3) with a frequency by drive system. The drive force (5) applied by the drive system for managing the periodic movement of the total mass is detected. The position values of the moving total mass is detected. The total friction force (2) and the speed (7) of the moving total mass are determined for determining a friction-speed-function (8) by a friction-speed-observer (9) such that the friction-speed-observer comprises a stretching model (10) and an oscillator (11). The frequency as an input value is supplied at the oscillator. Independent claims are included for the following: (1) a controller for a machine with a drive system; and (2) a computer program with a computer program product for executing the friction component determining method. |
