Date of Award
Master of Science in Electrical Engineering (MSEE)
Electrical, Computer, and Biomedical Engineering
Richard J. Vaccaro
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.
Breau, Frank J. III, "LINEAR POSITION CONTROL IN THE PRESENCE OF NON-LINEAR FRICTION" (2011). Open Access Master's Theses. Paper 101.