Friction compensation of DC motors for precise motion control using disturbance observer

Abstract

Friction compensation is often neglected in DC servo control systems where precision is not a main concern. However, friction compensation is necessary to achieve precision of a motion control system. In this research work frictional components have been estimated using constant angular velocity motion test and by the use of the disturbance observer. Disturbance observer based friction compensator has been Modeled and developed model was implemented in hardware setup and evaluated using simulation and practical results.