Research Article
A Novel Time-Varying Friction Compensation Method for Servomechanism
Figure 11
Experimental results with the motion trajectories of S1, S2, and S3 as well as S4: (a) S-shaped motion trajectory S1; (b) tracking errors at the reverse position of motion trajectory S1; (c) S-shaped motion trajectory S2; (d) tracking errors at the reverse position of motion trajectory S2; (e) S-shaped motion trajectory S3; (f) tracking errors at the reverse position of motion trajectory S3; (g) S-shaped curve motion trajectory S4; and (h) tracking errors at the reverse position of motion trajectory S4. WTFC: without friction compensation; WFC: with friction compensation.
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