DocumentCode
1748182
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
Volume
1
fYear
2001
fDate
2001
Firstpage
642
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location
Como
Print_ISBN
0-7803-6736-7
Type
conf
DOI
10.1109/AIM.2001.936542
Filename
936542
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