Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 15, issue 1
Articles | Volume 15, issue 1
https://doi.org/10.5194/ms-15-385-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-15-385-2024
© Author(s) 2024. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 15, issue 1
Research article
 | 
20 Jun 2024
Research article |  | 20 Jun 2024

High-precision velocity control of direct-drive systems based on friction compensation

Baoyu Li, Xin Xie, Bin Yu, Yuwen Liao, and Dapeng Fan

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Latest update: 04 Jul 2025
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Short summary
Friction is widely present in moving mechanical systems, and it has a negative impact on the performance of mechanical systems, such as tracking errors during low-speed motion. To overcome the impact of friction on the control accuracy of the system, this paper proposes a dynamic continuous friction model based on numerous current friction models. Based on this friction model, the velocity control mode of the direct-drive system is compensated for, and good results have been achieved.
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