Investigation of backlash and friction nonlinearities in a 1-DoF electromechanical system based on experimental data

Masoud Abedinifar; Seniz Ertugrul

doi:10.35860/iarej.1778704

Investigation of backlash and friction nonlinearities in a 1-DoF electromechanical system based on experimental data

Abstract

The characterization of nonlinearities, specifically backlash and friction, in one-degree-of-freedom (1-DoF) electromechanical systems is essential for achieving high-precision control. This study presents a systematic investigation into the identification of these phenomena using a white-box modeling approach. An experimental platform, consisting of a brushed DC motor with a gearbox and a 3D-printed L-shaped load arm, was developed to generate input-output data from sinusoidal voltage excitations. A comprehensive nonlinear model, developed in MATLAB/Simulink, incorporated electrical dynamics, Coulomb and viscous friction, gravitational torque, and backlash dead-zone effects. Two complementary parameter identification methods, Nonlinear Least Squares Errors (NLSE) estimation and a Genetic Algorithm (GA), were applied to estimate the model's unknown parameters. Results demonstrated that both approaches successfully captured the dominant system dynamics; however, NLSE achieved superior accuracy in both identification (RMSE = 0.13 rad/s, R2 = 0.99) and verification (RMSE = 0.16 rad/s, R2 = 0.96) phases, compared to GA (RMSE = 0.21-0.22 rad/s, R2 = 0.94-0.97). These findings demonstrate that, with identical initialization and constraints of system parameters, a physics-based white-box model combined with NLSE provides a more reliable and precise characterization of combined backlash and friction nonlinearities than GA for the investigated 1-DoF electromechanical system and excitation conditions.

Keywords

Thanks

The authors gratefully acknowledge the contributions of the FENG498 Project team, Damla Köleli, Ali Gül, Sude Kurt, and Cem Satılmış, for designing and developing the experimental setup utilized in this study, which served as the foundation for the modeling and parameter identification work presented herein.

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Details

Primary Language

English

Subjects

Mechatronics Engineering, Simulation, Modelling, and Programming of Mechatronics Systems

Journal Section

Research Article

Authors

Masoud Abedinifar ^*
0000-0002-4050-9835
Türkiye

Seniz Ertugrul
0000-0003-1766-1676
Türkiye

Publication Date

December 25, 2025

Submission Date

September 5, 2025

Acceptance Date

December 16, 2025

Published in Issue

Year 2025 Volume: 9 Number: 3

DOI

https://doi.org/10.35860/iarej.1778704

IZ

https://izlik.org/JA55JU83RU

Cite

RIS / Bibtex

APA

Abedinifar, M., & Ertugrul, S. (2025). Investigation of backlash and friction nonlinearities in a 1-DoF electromechanical system based on experimental data. International Advanced Researches and Engineering Journal, 9(3), 191-200. https://doi.org/10.35860/iarej.1778704

AMA

1.Abedinifar M, Ertugrul S. Investigation of backlash and friction nonlinearities in a 1-DoF electromechanical system based on experimental data. Int. Adv. Res. Eng. J. 2025;9(3):191-200. doi:10.35860/iarej.1778704

Chicago

Abedinifar, Masoud, and Seniz Ertugrul. 2025. “Investigation of Backlash and Friction Nonlinearities in a 1-DoF Electromechanical System Based on Experimental Data”. International Advanced Researches and Engineering Journal 9 (3): 191-200. https://doi.org/10.35860/iarej.1778704.

EndNote

Abedinifar M, Ertugrul S (December 1, 2025) Investigation of backlash and friction nonlinearities in a 1-DoF electromechanical system based on experimental data. International Advanced Researches and Engineering Journal 9 3 191–200.

IEEE

[1]M. Abedinifar and S. Ertugrul, “Investigation of backlash and friction nonlinearities in a 1-DoF electromechanical system based on experimental data”, Int. Adv. Res. Eng. J., vol. 9, no. 3, pp. 191–200, Dec. 2025, doi: 10.35860/iarej.1778704.

ISNAD

Abedinifar, Masoud - Ertugrul, Seniz. “Investigation of Backlash and Friction Nonlinearities in a 1-DoF Electromechanical System Based on Experimental Data”. International Advanced Researches and Engineering Journal 9/3 (December 1, 2025): 191-200. https://doi.org/10.35860/iarej.1778704.

JAMA

1.Abedinifar M, Ertugrul S. Investigation of backlash and friction nonlinearities in a 1-DoF electromechanical system based on experimental data. Int. Adv. Res. Eng. J. 2025;9:191–200.

MLA

Abedinifar, Masoud, and Seniz Ertugrul. “Investigation of Backlash and Friction Nonlinearities in a 1-DoF Electromechanical System Based on Experimental Data”. International Advanced Researches and Engineering Journal, vol. 9, no. 3, Dec. 2025, pp. 191-00, doi:10.35860/iarej.1778704.

Vancouver

1.Masoud Abedinifar, Seniz Ertugrul. Investigation of backlash and friction nonlinearities in a 1-DoF electromechanical system based on experimental data. Int. Adv. Res. Eng. J. 2025 Dec. 1;9(3):191-200. doi:10.35860/iarej.1778704