Adaptive dynamic friction compensation control of electrohydraulic servo system

Author

Guo Jing ; Yang Jizhi

Author_Institution

Beijing Inst. of Aerosp. Testing Technol., Beijing, China

fYear

2012

fDate

6-8 July 2012

Firstpage

1682

Lastpage

1687

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Conference_Location

Beijing

Print_ISBN

978-1-4673-1397-1

Type

conf

DOI

10.1109/WCICA.2012.6358148

Filename

6358148