METHOD OF COMPENSATING FOR FRICTION FEATURES OF A PIVOT BEARING OF A ROTATIVE ACTUATOR AND A DEVICE THEREOF, SPECIALLY IN REFERENCE TO EXACTLY EXAMINING AND MODELING THE FRICTION FEATURES, BY COMPENSATING FOR DISTORTED PARTS

摘要

PURPOSE: A method of compensating for friction features of a pivot bearing of a rotative actuator and a device thereof are provided to compare displacement and speed profiles of a substantial actuator with simulation displacement and speed profiles, and to compensate for distorted parts, thereby exactly examining and modeling friction features of an actuator. CONSTITUTION: A rotative actuator of a nonlinear plant is driven(301). A displacement and a speed of the rotative actuator are measured, respectively(302). A system decides whether the measured displacement and the speed are the same as a simulated displacement and a simulated speed of an actuator of a linear plant(303). If not, parameters related to displacement and speed profiles of the actuator of the nonlinear plant are controlled(304). A torque fed back from a rigidity gain of the nonlinear plant and a torque fed back from a cohesiveness gain are obtained, respectively(305). Based on the torques, a total torque is obtained from a friction feature gain(306). Based on the total torque, distorted parts of the displacement and speed profiles are compensated for(307).