Dynamic Friction Model Study Applied to a Servomechanism at Low Velocities
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Abstract
The following work contains an experimental method for identifying dynamic friction in a DC servomotor, whose identification and subsequent compensation is highly important. Friction has characteristics that are difficult to equate and for this reason it becomes very important and necessary to identify nonlinearities and subsequently compensate them. In this paper, based on the DC motor equation using Newton’s law of motion, feasible models are presented and friction is measured and analyzed through Matlab and a Quanser data acquisition card. Nonlinear dynamic friction torque is used and compared with the experimental results of a real servomotor.
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Mathematical modeling, Nonlinear control systems, Nonlinear friction model
Language
English
Citation
Mechanisms and Machine Science, v. 95, p. 81-94.
