Identification and compensation of friction in a single degree of freedom electromechanical structure using a slip ring

Slip rings provide data transmission by friction as their working principle, and this friction force causes undesirable effects on the rotating electromechanical component in which the slip ring is used. The need for precise control in dynamic systems under the effect of friction originating from the slip ring is possible with the compensation of friction. Friction is an extremely complex and non-linear phenomenon. In this thesis, modeling, identification and compensation of friction caused by slip rings are studied. Friction phenomena and friction models in the literature are investigated. Among these models, the parameters of the Stribeck and Coulomb with viscous, generalized Maxwell-Slip and LuGre friction models are studied according to the slip ring friction behavior. In addition, friction models are applied with proportional, derivative (PD) and proportional, integral, derivative (PID) type feedback control systems with the intent to compare the effectiveness of the models. The effect of the friction compensation on the position control is tried to be realized in the simulation environment with different position commands. Numerous tests carried out in the simulation environment. The comparison of the friction models, their effects on the position control, the efficiency of the feedback and feedforward friction compensation are examined. Within the scope of this study, a slip ring friction test setup is designed and produced in order to carry out the tests performed in the simulation environment experimentally. All tests carried out in the simulation environment are repeated on a real-time slip ring friction test setup. The results obtained from the experiments are compared with the simulation results.