Nonlinear dynamic of actuators with elasticities and friction

To control actuators with elasticities and friction a better comprehension of the appropriate nonlinear dynamic is required. In this paper we propose a simple dynamic model of actuator subject to the nonlinear friction and elasticities combined with the structural damping. The last ones give rise to a hysteretic restoring force (torque) which conjointly with friction provides the second order oscillation system with memory. The derived model is experimentally evaluated on the high precision positioning system used for an optical equipment.