Analysing the Friction Effect on Velocity Control of a DC Motor for Gimbal Applications

Stabilizing a platform is vital for many industries, such as defense and photography. Gimbals are systems that stabilize a platform. An accurate motor speed control is very important for gimbals. In this research, a DC motor model is developed and combined with a precise friction model, including the Stribeck effect, viscous friction, static friction, and Coulomb friction terms. The impact of each different friction term is demonstrated. Also, the total effect of friction terms on a speed-controlled DC motor is analysed. Finally, a model-based friction compensator is used to minimize the effect of linear friction terms. According to the results, a proper friction model should be used for gimbal DC motors.