Characteristic Modeling and Control of Servo Systems with Backlash and Friction

Table 1

Parameters of the servo motor (M-403-B).

Name	Units	Value
Rated power	kW	2.5
Rated speed	rpm	3000
Torque coefficient	N·m/A	1.11
EMF	V/krpm	67.2
Line resistance	ohms	2.6
Line induction	mH	50
Inertia	Kg·m^2	0.00259
Static friction	N·m	0.24
Viscous friction	N·m/krpm	0.015