Error rate control of a second-order servomechanism with coulomb friction and backlash

Abstract

Compensation for linear second-order servomechanisms has been used for many years to improve performance. This thesis studies in detail the use of error rate or derivative control as one method of improving performance. The effects of coulomb friction and backlash on the error rate control system are also studied. The error rate control system with coulomb friction and backlash were simulated on the Analog Computer to demonstrate qualitative results of this type of compensation. The favorable results of this investigation are then summarized in the conclusions. The author wishes to express his appreciation for the suggestion of this thesis topic and the invaluable aid extended by Professor G.J. Thaler of the Electrical Engineering Department of the U.S. Naval Postgraduate School.