Higher-order sinusoidal input describing functions for the analysis of non-linear systems with harmonic responses

For high-precision motion systems, modelling and control design specifically oriented at friction effects is instrumental. The sinusoidal input describing function theory represents an approximative mathematical framework for analysing non-linear system behaviour. This theory, however, limits the description of the non-linear system behaviour to a quasi-linear amplitude-dependent relation between sinusoidal excitation and sinusoidal response. In this paper, an extension to higher-order describing functions is realised by introducing the concept of the harmonics generator. The resulting higher-order sinusoidal input describing functions (HOSIDFs) relate the magnitude and phase of the higher harmonics of the periodic response of the system to the magnitude and phase of a sinusoidal excitation. Based on this extension two techniques to measure HOSIDFs are presented. The first technique is FFT based. The second technique is based on IQ (in-phase/quadrature-phase) demodulation. In a simulation, the measurement techniques have been tested by comparing the simulation results to analytically derived results from a known (backlash) non-linearity. In a subsequent practical case study both techniques are used to measure the changes in dynamic behaviour as a function of drive level due to friction in an electric motor. Both methods prove successful for measuring HOSIDFs.