By Topic

The effect of speed-dependent friction and backlash on the stability of automatic control systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Freeman, E. A. ; The English Electric Company, Ltd., Whetstone, England

A control system is considered which employs a motor driving a load through gearing having backlash. It is assumed that linear speed-dependent friction is applied to both the motor and the load. The effect of backlash and friction on the stability of the control system is investigated using the describing function technique. A method of deriving the describing function is given and it is shown that the presence of friction modifies the application of the describing function as presented by Tustin.1 In particular it is shown that although the positional reset may be divided in the ratio of the inertias, the system may still exhibit sustained oscillations, and the choice of system parameters to eliminate these oscillations is discussed. To illustrate the effect of backlash and friction quantitatively a second-order control system is considered. The oscillations predicted by the theory are measured on an electronic analog of the system. By a correct choice of the system parameters the oscillations are removed.

Published in:

American Institute of Electrical Engineers, Part II: Applications and Industry, Transactions of the  (Volume:77 ,  Issue: 6 )