Date of Award

2011

Degree Type

Thesis

Degree Name

Master of Science in Electrical Engineering (MSEE)

Department

Electrical, Computer, and Biomedical Engineering

First Advisor

Richard J. Vaccaro

Abstract

This thesis presents the design and simulation of a friction compensation technique for position control systems. Linear techniques are used to implement an “inner loop” velocity tracking system to compensate for friction-induced disturbances. Intended to mimic the effect of an analog tachometer feedback loop on a servo drive motor, inner loops employing proportional feedback, integral feedback, and observer based feedback are explored. Simulation results indicate that the observer-based feedback loop is most effective at friction compensation. Hardware demonstrations substantiate the simulated results.

Share

COinS
 
 

To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.