Accession Number:

ADA453144

Title:

Comparative Study of Friction-Compensating Control Strategies for Servomechanisms

Descriptive Note:

Technical research rept.

Corporate Author:

MARYLAND UNIV COLLEGE PARK SYSTEMS RESEARCH CENTER

Report Date:

1991-01-01

Pagination or Media Count:

30.0

Abstract:

This paper describes a comparative investigation of friction-compensating control strategies designed to improve low-velocity position tracking performance for servomechanisms. Several control methods are considered including adaptive control and estimation-based control. Additionally, the various controller designs incorporate different friction models ranging from classical friction and Stribeck friction to the less popular Dahl friction model. This investigation of friction models is motivated by the fact that there is little consensus in the literature on how best to model friction for dynamic friction compensation. The control strategies are compared in an extensive test program involving position tracking experiments on a direct-drive dc motor. This effort addresses the current lack of comparative experimental results on friction compensation. The results show that the adaptive and estimation-based controllers out perform more traditional linear controllers. The experiments also yield insight into the appropriateness of the different friction models under the tested operating conditions. In particular, the Dahl model is observed to provide a reliable representation of friction behavior near zero velocity.

Subject Categories:

  • Flight Control and Instrumentation
  • Mechanics
  • Electrical and Electronic Equipment

Distribution Statement:

APPROVED FOR PUBLIC RELEASE