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

fYear

2009

fDate

23-24 May 2009

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IWISA.2009.5072976

Filename

5072976