| 摘要 |
A method for compensating for static friction in an actuating device includes the steps of generating an actual signal y2(t) corresponding to a quantity which is controllable by the actuating device, generating a set value signal y1(t) generating a control signal s1(t) based on the set value signal y1(t) and the actual value signal y2(t), and supplying the control signal to the actuating device for controlling the same. The method also includes the steps of generating an intermittent signal s2(t) compensating for friction, sensing the sign of the derivative with respect to time of the control signal s1(t), giving the signal s2(t) compensating for friction the same sign as the derivative, and adding the signal s2(t) compensating for friction to the control signal s1(t) before supplying the same to the actuating device. |
