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REVIEW ARTICLES

Friction in Servo Machines: Analysis and Control Methods

[+] Author and Article Information
Brian Armstrong-Hélouvry

Department of Electrical Engineering and Computer Science, University of Wisconsin - Milwaukee, PO 784, Milwaukee, WI 53201

Pierre Dupont

Department of Aerospace and Mechanical Engineering, Boston University, 110 Cummington St, Boston, MA 02215

Carlos Canudas de Wit

Laboratoire d’Automatique de Grenoble, ENSIEG, BP 46 38402 St Martin d’Hères, France

Appl. Mech. Rev 47(7), 275-305 (Jul 01, 1994) (31 pages) doi:10.1115/1.3111082 History: Online April 29, 2009

Abstract

Analysis tools and compensation methods for the automatic control of systems with friction are surveyed. The literature reviewed is principally that of the controls and mechanics communities, and the perspective taken is that of the controls engineer. Over 180 papers are cited. The analysis tools discussed are describing functions, algebraic analysis, phase plane analysis and simulation. All major compensation techniques are described including both those which employ friction models (fixed and adaptive feedforward compensation) and those which do not (stiff PD, integral, dither, impulsive and dual mode control). A summary of current engineering practice in industry is reported and a paradigm for future research is proposed.

Copyright © 1994 by American Society of Mechanical Engineers
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