Analysis and model-based control of servomechanisms with friction

Papadopoulos, EG; Chasparis, GC

dc.contributor.author	Papadopoulos, EG	en
dc.contributor.author	Chasparis, GC	en
dc.date.accessioned	2014-03-01T01:19:54Z
dc.date.available	2014-03-01T01:19:54Z
dc.date.issued	2004	en
dc.identifier.issn	0022-0434	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/15759
dc.subject	Model Based Control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Instruments & Instrumentation	en
dc.subject.other	Friction	en
dc.subject.other	Kinetic theory	en
dc.subject.other	Mathematical models	en
dc.subject.other	Parameter estimation	en
dc.subject.other	Real time systems	en
dc.subject.other	Servomechanisms	en
dc.subject.other	Signal processing	en
dc.subject.other	Tachometers	en
dc.subject.other	Torque control	en
dc.subject.other	Velocity control	en
dc.subject.other	Viscosity	en
dc.subject.other	Friction compensation	en
dc.subject.other	Kinetic friction model	en
dc.subject.other	Phase-plane analysis	en
dc.subject.other	System response	en
dc.subject.other	Control system analysis	en
dc.title	Analysis and model-based control of servomechanisms with friction	en
heal.type	journalArticle	en
heal.identifier.primary	10.1115/1.1849245	en
heal.identifier.secondary	http://dx.doi.org/10.1115/1.1849245	en
heal.language	English	en
heal.publicationDate	2004	en
heal.abstract	Friction is responsible for several servomechanism limitations, and their elimination is always a challenge for control engineers. In this paper, model-based feedback compensation is studied for servomechanism tracking tasks. Several kinetic friction models are employed and their parameters identified experimentally. The effects of friction compensation on system response are examined using describing function analysis. A number of control laws including classical laws, rigid body motion models, and friction compensation are compared experimentally in large-displacement tasks. Results show that the best response is obtained using a controller that incorporates a rigid body model and a friction model based on an accurate description of identified kinetic friction effects. Copyright © 2004 by ASME.	en
heal.publisher	ASME-AMER SOC MECHANICAL ENG	en
heal.journalName	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME	en
dc.identifier.doi	10.1115/1.1849245	en
dc.identifier.isi	ISI:000228201400024	en
dc.identifier.volume	126	en
dc.identifier.issue	4	en
dc.identifier.spage	911	en
dc.identifier.epage	915	en