Nonlinear control of a pneumatic actuator based on a dynamic friction model

Povzetek

This paper presents a new controller for the position of a pneumatic actuator. The controller is designed based on the multiple-surface sliding control method in combination with a frictional compensator. The multiple-surface sliding control method is applied to deal with the nonlinear characteristics of the pneumatic system, and the frictional compensator is applied to compensate for the friction force in the pneumatic actuator. The friction force is estimated based on a dynamic friction model (the LuGre model). Both simulation and experimental studies are done to evaluate the new controller. The evaluation results indicate significant improvement in the tracking position error of the new controller comparing to the multiple-surface sliding controller without friction compensation and other nonlinear controllers.

Ključne besede

pneumatic actuator;nonlinear control;friction compensation;dynamic friction model;

Podatki

Jezik:	Angleški jezik
Leto izida:	2021
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UL FS - Fakulteta za strojništvo
UDK:	621.5:62-5(045)
COBISS:	80467203
ISSN:	0039-2480
Št. ogledov:	207
Št. prenosov:	67
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarni naslov:	Nelinearno vodenje pnevmatskega aktuatorja na osnovi dinamičnega modela trenja
Sekundarne ključne besede:	pnevmatski valji;nelinearno vodenje;kompenzacija trenja;dinamični model trenja;
Vrsta dela (COBISS):	Članek v reviji
Strani:	str. 458-472
Letnik:	ǂVol. ǂ67
Zvezek:	ǂno. ǂ9
Čas izdaje:	Sep. 2021
DOI:	10.5545/sv-jme.2021.7236
ID:	13700553