Title :
Adaptive dynamic friction compensation control of electrohydraulic servo system
Author :
Guo Jing ; Yang Jizhi
Author_Institution :
Beijing Inst. of Aerosp. Testing Technol., Beijing, China
Abstract :
Low-speed performance and tracking accuracy of simulator´s electrohydraulic servo system are effected by its nonlinear friction torque. Adaptive dynamic friction compensation control strategy with nonlinear observers of electrohydraulic servo system is proposed by building dynamic equations and LuGre friction model. The strategy can modify dynamic friction parameters constantly of servo system to compensate friction and improve low-speed performance by on-line adaptive rate. The effectiveness and superiority of the strategy are verified by comparing with feed-forward friction compensation control method.
Keywords :
adaptive control; compensation; electrohydraulic control equipment; feedforward; friction; observers; servomechanisms; torque; LuGre friction model; adaptive dynamic friction compensation control; dynamic equations; dynamic friction parameters; feed-forward friction compensation control method; low-speed performance; nonlinear friction torque; nonlinear observers; online adaptive rate; simulator electrohydraulic servo system; tracking accuracy; Adaptive systems; Aerodynamics; Electrohydraulics; Electronic mail; Friction; Nonlinear dynamical systems; Servomotors; Adaptive Control; Electrohydraulic Servo System; Friction;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6358148
