Control of Pneumatic Position Servo with LuGre Model-based Friction Compensation

doi:10.3901/JME.2018.20.131

Abstract

Abstract: The friction/drive of the pneumatic servo system is relatively large, the friction model is complex, the factors are affected and there is some uncertainty, which makes the accurate modeling difficult. The interaction between the friction force and the low stiffness and the weak damping of the gas leads to the phenomenon of the stick slip oscillation. A nonlinear adaptive backstepping friction compensation control method is proposed considering the friction and the nonlinear and unmodeled dynamic uncertainties of the system. Experimental verification is carried out under low speed and high speed conditions respectively. The friction compensation control method improves the dynamic hysteresis phenomenon in the initial stage, reduces the crawling phenomenon at low speed, the stick slip oscillation phenomenon at high speed, and improves the response speed and tracking accuracy of the system.

Key words: adaptive backstepping, crawl, pneumatic position servo, stick slip oscillation

CLC Number:

TG156

WEI Qiong, JIAO Zongxia, WANG Jun, LI Shuting. Control of Pneumatic Position Servo with LuGre Model-based Friction Compensation[J]. Journal of Mechanical Engineering, 2018, 54(20): 131-138.

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