| This thesis presents the design and simulation of a friction compensation technique for position control systems. Linear techniques are used to implement an "inner loop" velocity tracking system to compensate for friction-induced disturbances. Intended to mimic the effect of an analog tachometer feedback loop on a servo drive motor, inner loops employing proportional feedback, integral feedback, and observer based feedback are explored. Simulation results indicate that the observer-based feedback loop is most effective at friction compensation. Hardware demonstrations substantiate the simulated results. |
