Increasing the Bandwidth Frequency by Coulomb Friction Compensation Method in Electromechanical Control Actuation Systems

In this study, it is aimed to increase the bandwidth frequency of an electromechanical control actuation system by Coulomb friction compensation method. The actuation system consists of a brushless direct current motor, ball screw and lever mechanism. Both linear and nonlinear mathematical models of the system were obtained. The non-linear model was confirmed by real-time testing of a prototype. The friction torque coefficient of the prototype and the Coulomb friction torque due to its angular position were obtained. The found Coulomb friction torque profile was then used in real-time tests as friction compensation. As a result, it has been seen that the system's bandwidth frequency can be increased by 12% with Coulomb friction compensation method.