Date of Award

12-1991

Document Type

Thesis

Degree Name

Master of Science

Department

Department of Aeronautics and Astronautics

Abstract

Bearing friction can be accurately modeled using the Coulomb friction model, provided the bearing is running. In an application where the bearing is rotated only a very small amount, the bearing does not actually rotate. Instead, the bearing undergoes plastic deformation. A nonlinear friction model was developed by P. R. Dahl of the Aerospace Corporation in the late sixties which addresses this region of placticity or compliance zone. Two friction compensation schemes for a single axis position servomechanism were developed and compared in this study. The first compensator was an integral control regulator/estimator which used the Coulomb friction model. The second, more complicated compensator, was an extended Kalman filter (EKF) design which used the DAHL friction model. The compensator designs were simulated using ProMatlab. Comparisons were made of the time response characteristics to determine if any increases in performance were worth the added complexity of the Dahl model EKF controller.

AFIT Designator

AFIT-GAE-ENY-91D-16

DTIC Accession Number

ADA244266

Comments

The author's Vita page is omitted.

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