Model Reference Position Control of an Elastic Two-Mass System with Compensation of Coulomb Friction

Coulomb friction in combinaton with compliant gears, couplings and shafts render it difficult to achieve a high-precision speed, position and force control in pointing and traking systems. For an elastic two-mass system with Coulomb friction as an effective model of higher-order industrial systems the stability conditions are summarized. They lead to linear and nonliner stabiliztion and compensation measures, which ensure optimal operation down to the lowest speeds and standstill. The results which have been proven experimentally are applicable to many types of industrial plants.