Title :
Reducing stick-slip friction in hydraulic actuators
Author :
Owen, William S. ; Croft, Elizabeth A. ; McFarlane, James R.
Author_Institution :
Lab. of Inf. Autom., British Columbia Univ., Vancouver, BC, Canada
Abstract :
Stick-slip friction in hydraulic actuators is a problem for accuracy and repeatability. Friction compensation has been approached through various control techniques. This work presents an alternative solution, namely, friction avoidance. By rotating the piston and rod the Stribeck region of the friction-velocity curve is avoided and the axial friction opposing the piston movement is linearized, making control more accurate and robust. Simulation results are presented to validate this approach and identify the operating limits for the rotational velocity
Keywords :
actuators; hydraulic control equipment; linearisation techniques; robust control; stiction; Stribeck region; accuracy; friction-velocity curve; hydraulic actuators; linearization; piston rotation; repeatability; rod rotation; rotational velocity; stick-slip friction reduction; Automatic control; Automation; Friction; Hydraulic actuators; Hysteresis; Laboratories; Machining; Pistons; Robust control; Velocity control;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936542
