Abstract:
Estimation of friction is not considered necessary in
motion control systems when the precision is not a major
concern. Effects of the frictional components could be ignored
for small friction: motor torque ratio DC motors. Friction
estimation is required to increase the precision of the motion
control system. Available research illustrates a way of average
value estimation for static friction and viscous friction for a
full rotation. As far as practical scenario is concerned,
frictional components are having a rotor wide variation.
Proposed method attempts to estimate the rotor wide static
friction variation for a small DC motor. Disturbance Observer
has been used for static frictional torque measurements. Rotor
wide static friction variation is shown in the results and it
illustrates mechanical health of the system.
