Two Advanced Control Strategies for Dynamic Friction Compensation
两种补偿动态摩擦力的先进控制策略

The effects of static and coulomb friction are obvious in small size DC servomotors. The paper proposes two control strategies for improving the systems performance. The first, the on-line friction model based compensation, is suitable for tracking variable signals. The second, the repetitive control, based on self-learning principles, is suitable for tracking periodic signals. These two control strategies have been implemented on computer-based servo devices. The comparisons with conventional control results are given.