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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

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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