Seminar Series Seminar Series - Topics in Systems Friction Models and Friction Compensation Friction appears in all mechanical systems. It has a significant impact on control. Successful design of mechatronic systems requires an understanding of the effects of friction as well as techniques for compensation. Friction phenomena are complicated because they are caused by many different physical mechanisms. Friction can cause a substantial deterioration of the performance of a control system.
Typical effects are steady state errors and oscillations.
Many attempts have been made to compensate for friction. Early efforts include introduction of dither signals. Other ideas use model based control. This talk reviews several models for friction that have been used to model friction in motion control systems. The models discussed include Dahl s model, the Bliman-Sorine model and the LuGre model.