Abstract
A nonlinear controller based on non-presision model was proposed to compensate the friction in the force servo system. Friction is one of the important factors affecting the system performance. Considering the in fluence of the friction nonlinearity on the tracking behavior of the passive electrohydranlic force servo system, a controller for compensating the friction nonlinearity in the force control system was suggested. The controller is based on Lyapunov stability theorem, it only needs the parameter upper bounds without need of precision friction model. It is a nonlinear controller based on a non-precision friction model. Simulation and experiment results showed that compared with the conventional PID controller, the suggested controller is better at eliminating the influence of friction nonlinearity. The algorithm gives a reference to the friction suppression in the force control system.
| Original language | English |
|---|---|
| Pages (from-to) | 1348-1353 |
| Number of pages | 6 |
| Journal | Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) |
| Volume | 38 |
| Issue number | 6 |
| State | Published - Nov 2008 |
Keywords
- Fluid transmission and control
- Force control system
- Friction torque compensation
- Nonlinear control
- Passive force servo system
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