C02- Control Design and Analysis of Servo-Systems with Friction and Backlash

Friction and Backlash are present in almost all electro-mechanical systems:

Servo system drives (linear/rotational) , Single/double gimbals systems,

Robotic manipulatorsInertial/optical stabilized platforms.

Friction control problems:

–     causes rapid disturbance changes when the velocity is reversed.

-performance degradation: tracking errors, limit cycles, hunting

-wear and damage to components

Backlash control problems:

– decreased steady-state accuracy;

– tracking errors, limit cycles

 

This research will be focused on the modern control design approaches for servo systems that exhibit friction and backlash effects:

1.Friction and Backlash Novel Modeling .

2.Friction  and Backlash Compensation Techniques

3.Dual Properties of Friction and Backlash in servo systems

4.Friction and Backlash Reciprocal Effect on the system performance

 

Software Tools: MATLAB, Simulink