Theoretical and experimental study of friction emulation and compensation

Masteroppgave i mekatronikk 2010 – Universitetet i Agder, Grimstad This project deals with hydraulics, mechanics, electronics, dynamic modeling and control theory. The focus is on constructing a test rigg in order to to emulate desired friction and compensate for this with a control loop. The rigg is modeled in matlab/simulink and at last compared to the physical rigg. The rigg reads sensor values and control the servo valves via a CompactRIO. The controllers that are made and implemented in the matlab/simulink model are PI and LQR tracking with integral action.