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.
Recommended Citation
Breau, Frank J. III, "LINEAR POSITION CONTROL IN THE PRESENCE OF NON-LINEAR FRICTION" (2011). Open Access Master's Theses. Paper 101.
https://digitalcommons.uri.edu/theses/101
Terms of Use
All rights reserved under copyright.