Abstract:
Friction is primary disturbance in motion control.
Different types of friction cause diminution of original torque in
a DC motor, such as static friction, viscous friction etc. By some
means if those can be determined and compensated, the friction
effect from the DC motor can be neglected. It would be a great
advantage for control systems. Authors have determined the
types of frictions as well as frictional coefficients and suggested a
unique way of compensating the friction in a DC motor using
Disturbance Observer Method which is used to determine the
disturbance torques acting on a DC motor. In simulation
approach, the method is modelled using MATLAB and the
results have been obtained and analysed. The block diagram
consists with DC motor model with DOB and RTOB. Practical
approach of the implemented block diagram is shown by the
obtained results. It is discussed the possibility of applying this to
real life applications.
