부산대학교 도서관

Friction is a complex phenomenon with negative effects on the precision of positioning systems. In this work, a single-state friction model for control purposes, aimed to simplify the implementation of control algorithms while keeping a good performance in friction compensation, is analysed. In particular, the model is capable or representing the Stribeck curve, rate independent presliding hysteresis with non-local memory and non-drifting behaviour. This model has been tested on an experimental setup based on a linear motor, and its performance is compared to that of the generalised Maxwell-slip model, showing better performance on the tracking error.