Title :
Nonlinear Dynamic Friction Compensation of Hydraulic Simulator
Author :
Dong Yan-Liang ; Guo Jing ; Zhao Ke-Ding
Author_Institution :
Coll. of Mech. & Electron. Eng., Harbin Inst. of Technol., Harbin
Abstract :
The performance improvement of hydraulic simulator is effected by dynamic nonlinear friction. A nonlinear adaptive frication compensation method based on LuGre friction model is proposed to acquire good low-speed performance of hydraulic simulator after analyzing dynamic friction of hydraulic simulator and building LuGre friction model of hydraulic simulator. Dual nonlinear observers are constructed to estimate the unmeasurable friction state and adaptive laws of friction parameters are built to compensate dynamic friction. The system stability and asymptotic position tracking performance are guaranteed by Lyapunov function. Simulation results verify the effectiveness and superiority of the dynamic frication compensation method.
Keywords :
Lyapunov methods; friction; hydraulic motors; machine control; nonlinear control systems; nonlinear dynamical systems; observers; stability; LuGre friction model; Lyapunov function; asymptotic position tracking; hydraulic simulator; nonlinear dynamic friction compensation; nonlinear observers; system stability; Adaptive control; Analytical models; Equations; Friction; Nonlinear dynamical systems; Performance analysis; Servomechanisms; Servomotors; Torque; Valves;
Conference_Titel :
Intelligent Systems and Applications, 2009. ISA 2009. International Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-3893-8
Electronic_ISBN :
978-1-4244-3894-5
DOI :
10.1109/IWISA.2009.5072976
