Karnopp Friction Model Identification for a Real Control Valve
نویسندگان
چکیده
This paper presents an algorithm to estimate friction parameters of a real control valve. Data are collected from a valve installed in a bench, submitted to different input signals and subject to different friction forces. Two different parameter sets are obtained, based on distinct methods. These parameter sets are applied in the Karnopp friction model, generating two versions of the same model. These models are validated with different input signals and distinct friction forces. The validation tests have revealed that both models described quite well the behavior of the control valve.
منابع مشابه
Modeling of Needle Insertion Forces for Robot-Assisted Percutaneous Therapy
Force information from needle insertions was measured and modeled for use in robot-assisted percutaneous therapies. Data was collected on bovine livers using the Johns Hopkins University Steady Hand Robot, and modeled in three parts: force due to capsule stiffness, friction, and cutting. Capsule stiffness is modeled by a nonlinear spring model, friction by a modified Karnopp model, and cutting ...
متن کاملFriction modeling and display in haptic applications involving user performance - Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
We review the state of the art in friction estimation and rendering for haptic interfaces and present a method based on a modified Karnopp friction model. We illustrate some of the advantages of this approach and show how it can be used to create accurate and convincing displays of sliding friction, including pre-sliding displacement and stick-slip behavior. We also present the results of human...
متن کاملEffects of Valve Closing Law and Unsteady Friction Model on Damping Pressure Waves in a Network
Water-hammer is a transient condition which may occur in a network as a result of rapid or slow valve closures, pump failures, changes in turbine loading, etc. It creates high and low pressure waves which travel along the system and decay as a result of wall shear stress. Comparison o experimental and theoretical results revealed the failure of steady or quasi-steady models in correctly predict...
متن کاملEffects of Valve Closing Law and Unsteady Friction Model on Damping Pressure Waves in a Network
Water-hammer is a transient condition which may occur in a network as a result of rapid or slow valve closures, pump failures, changes in turbine loading, etc. It creates high and low pressure waves which travel along the system and decay as a result of wall shear stress. Comparison o experimental and theoretical results revealed the failure of steady or quasi-steady models in correctly predict...
متن کاملValve friction quantification and nonlinear process model identification
This paper extends existing methods that jointly estimate the process and friction model parameters, so that a nonlinear process model structure is considered. In addition, nonlinear optimization is applied to estimate the friction model parameters. The developed estimation algorithm is tested with data generated by a hybrid setup (composed of a real valve and a simulated pH neutralization proc...
متن کامل