Cascade controlled pneumatic positioning system with LuGre model based friction compensation
نویسندگان
چکیده
منابع مشابه
High Steady-State Accuracy Pneumatic Servo Positioning System with PVA/PV Control and Friction Compensation
Pneumatic servo actuators have the benefits of lowcost, cleanliness and a high power-to-weight ratio. However, their relatively poor accuracy prevents them from competing with electro-mechanical systems when higher accuracy is needed. The cause of the steady-state error for a pneumatic servo system with an open-center servo valve is investigated. Full nonlinear and linearized plant models are p...
متن کاملFeedback Linearization Control with Friction Compensation Applied to a Pneumatic Positioning System
This work presents a nonlinear control algorithm to be applied to the trajectory tracking of a pneumatic positioning system. The objective is to compensate the highly nonlinear effects that are inherent to such systems due to the dynamic behavior of pressurized air inside the chambers and to friction forces. In order to accomplish this task, the proposed algorithm employs the feedback lineariza...
متن کاملModel-based Friction Compensation for the the Furuta Pendulum using the LuGre Model
Friction is present in all mechanical systems and causes a wide range of problems for control. The development of friction models and methods to account for friction in control has been an active research area for many years. A promising friction model that is capable of describing a wide array of observed friction phenomena is the LuGre model. This thesis deals with the application of friction...
متن کاملAdvances on LuGre Friction Model
LuGre friction model is an ordinary differential equation that is widely used in describing the friction phenomenon for mechanical systems. The importance of this model comes from the fact that it captures most of the friction behavior that has been observed including hysteresis. In this paper, we study some aspects related to the hysteresis behavior induced by the LuGre friction model.
متن کاملAdaptive robust control of linear motors with dynamic friction compensation using modified LuGre model
LuGre model has been widely used in dynamic friction modeling and compensation. However, there are some practical difficulties when applying it to systems experiencing large range of motion speeds such as, the linear motor drive system studied in the ∧ article. This article first details the digital implementation problems of the LuGre model based dynamic friction compensation. A modified model...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Brazilian Society of Mechanical Sciences and Engineering
سال: 2006
ISSN: 1678-5878
DOI: 10.1590/s1678-58782006000100006