It is often assumed that the friction in direct-drive motors is negligible. However, experimental work has proved that friction significantly influences the performance of direct-drive motors. The Tustin's model has been used here for feedforward model-based compensation. It was found that the magnitude of the velocity and of the controller gains determine the required extent of the model-based compensation. This compensation method improved the performance of the direct-drive motors, particularly at the low velocity.
Friction, modelling, compensation and direct-drive motors.
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