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Article

Analysis and Model-Based Control of Servomechanisms With Friction

[+] Author and Article Information
Evangelos G. Papadopoulos, Georgios C. Chasparis

Department of Mechanical Engineering, National Technical University of Athens, 15780 Athens, Greece

J. Dyn. Sys., Meas., Control 126(4), 911-915 (Mar 11, 2005) (5 pages) doi:10.1115/1.1849245 History: Revised March 25, 2004; Received November 29, 2004; Online March 11, 2005
Copyright © 2004 by ASME
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References

Armstrong-Helouvry,  B., Dupont,  P., and Canudas de Wit,  C., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction,” Automatica, 30, pp. 1083–1138.
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Armstrong-Helouvry, B., and Amin, B., 1993, “PID Control in the Presence of Static Friction, Part II: The Reliability of Describing Function Predictions,” Technical Report, Dept. of Electrical Engineering and Computer Science, University of Wisconsin—Milwaukee, Report No. EE-93-2.
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Canudas de Wit,  C., 1993, “Robust Control for Servo-Mechanism Under Inexact Friction Compensation,” Automatica, 29, pp. 757–761.
Ogata, K., 1970, Modern Control Engineering, Prentice–Hall, Englewood Cliffs, NJ.
Chasparis, G., “Design of a Servomechanism Control System With Friction Compensation,” Master’s Thesis, Department of Mechanical Engineering, Athens, Greece, 2001 (in Greek).
Papadopoulos, E., and Chasparis, G., “Analysis and Model-Based Control of Servomechanisms With Friction,” Proc. of the 2002 IEEE/RSG Int. Conference on Intelligent Robots and Systems (IROS ’02), Lausanne, Switzerland, October 2002.

Figures

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(a) The Static-plus-Coulomb-plus-Viscous (SCV) friction model; (b) The General Kinetic Friction (GK) model  
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(a) Servomechanism experimental setup including sensors, amplifier, and controller; (b) system schematic
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Position-mean control voltage for several constant velocities and for the two directions of motion  
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Block diagram of the system with friction compensation and PD control
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Block diagram of the system with Model-Based Control and friction compensation
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Typical tracking error responses and respective control voltages

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