Dynamic friction measurement, modeling, and compensation for precise motion control
Department of Mechanical Engineering
Master of Science
Motion control devices
In this thesis, measurements
of dynamic friction in a hydrodynamic journal bearing were performed
for varying sinusoidal velocity excitations, loads, and lubricants.
The results indicate that the friction data displays a negative slope
in the mixed region of friction vs. velocity (f-v) curves, and also
shows that the dynamic friction is not just a function of current velocity,
but also a function of velocity history (hysteresis). These results
are in agreement with previous experimental investigations by other
investigators in lubricated friction.
Finally, model-based friction compensation was successfully performed. The dynamic friction model is used as a basis for velocity and position control of an apparatus with high friction by incorporating a function to constantly learn two parameters of the model. Results demonstrate the feasibility of using a rich friction model in real time, and its ability to greatly reduce the tracking errors caused by friction.
This thesis was supported by the National Science Foundation under Grant MSS9215636.
njit-etd1998-005 (122 pages ~ 5,562 KB pdf)
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Created September 2, 2003