A survey of models, analysis tools and compensation methods for the control of machines with friction

Armstrong-Hélouvry, Brian; Dupont, Pierre E.; Wit, Carlos Canudas de

doi:10.1016/0005-1098(94)90209-7

Cited by 2,298 publications

(1,105 citation statements)

References 101 publications

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“…15,20,27,28 Despite the ability of such systems to produce high fidelity flow waveforms, 15,27 they can be extremely inefficient due to mechanical friction and stick-slip effects between the piston and cylinder. 1 Moreover, their use in humans or large animals require high-powered electrical driving amplifiers, capable of dissipating over 200 W. 28 Regardless of the method employed to acquire respiratory impedance data, a more vexing problem is the ability of either approach to make oscillatory measurements while the lungs are maintained at a specified mean volume or pressure. Since lung volume can significantly impact respiratory impedance, 22 the ability to provide forced oscillations at different lung volumes or mean airway pressures is useful in understanding the impact of PEEP, periodic sighs, and recruitment/derecruitment manuevers on dynamic lung mechanics.…”

Section: Introductionmentioning

confidence: 99%

Servo-Controlled Pneumatic Pressure Oscillator for Respiratory Impedance Measurements and High-Frequency Ventilation

Kaczka¹,

Lutchen²

2004

Annals of Biomedical Engineering

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Abstract-The ability to provide forced oscillatory excitation of the respiratory system can be useful in mechanical impedance measurements as well as high frequency ventilation (HFV). Experimental systems currently used for generating forced oscillations are limited in their ability to provide high amplitude flows or maintain the respiratory system at a constant mean pressure during excitation. This paper presents the design and implementation of a pneumatic pressure oscillator based on a proportional solenoid valve. The device is capable of providing forced oscillatory excitations to the respiratory system over a bandwidth suitable for mechanical impedance measurements and HVF. It delivers high amplitude flows (>1.4 l/s) and utilizes a servo-control mechanism to maintain a load at a fixed mean pressure during simultaneous oscillation. Under open-loop conditions, the device exhibited a static hysteresis of approximately 7%, while its dynamic magnitude and phase responses were flat out to 10 Hz. Broad-band measurement of total harmonic distortion was approximately 19%. Under closed-loop conditions, the oscillator was able to maintain a mechanical test load at both positive and negative mean pressures during oscillatory excitations from 0.1 to 10.0 Hz. Impedance of the test load agreed closely with theoretical predictions. We conclude that this servo-controlled oscillator can be a useful tool for respiratory impedance measurements as well as HFV.

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Section: Introductionmentioning

confidence: 99%

Servo-Controlled Pneumatic Pressure Oscillator for Respiratory Impedance Measurements and High-Frequency Ventilation

Kaczka¹,

Lutchen²

2004

Annals of Biomedical Engineering

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“…3 as the master and the slave robots. For the NLP term, we consider the Stribeck friction at the robot joints [28]- [29]. For simplicity and without loss of generality, we ignore the LP part in the friction model and focus on the NLP part shown in (41) in When the system simultaneously has LP dynamic uncertainties (i.e., uncertain m α and s α ) and NLP dynamic uncertainties (i.e., uncertain m θ and s θ ), the proposed adaptive control scheme is compared with a conventional adaptive control scheme [16], which can only deal with LP dynamic uncertainties, given as …”

Section: Simulation Studiesmentioning

confidence: 99%

Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties

Liu

Tavakoli

2012

Journal of Dynamic Systems, Measurement, and Control

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Existing work concerning adaptive control of uncertain teleoperation systems only deals with linearly parameterized (LP) dynamic uncertainties. Typical teleoperation system dynamics, however, also posses terms with nonlinearly parameterized (NLP) structures. An example of such terms is friction, which is ubiquitous in the joints of the master and slave robots of practical teleoperation systems. Uncertainties in the NLP dynamic terms may lead to significant position and force tracking errors if not compensated for in the control scheme. In this paper, adaptive controllers are designed for the master and slave robots with both LP and NLP dynamic uncertainties. Next, these controllers are incorporated into the 4-channel bilateral teleoperation control framework to achieve transparency. Then, transparency of the overall teleoperation is studied via a Lyapunov function analysis. Simulation studies demonstrate the effectiveness of the proposed adaptive scheme when exact knowledge of the LP and NLP dynamics is unavailable.

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“…In literature, the modelling of friction was started by static models (Armstrong-Helouvry et al, 1994). Then, dynamic models were introduced.…”

Section: Introductionmentioning

confidence: 99%

Identification of GMS friction model using a new switching function: experimental investigation

Grami

Gharbia

2017

IJMIC

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Abstract:The objective of this paper is the identification of generalised Maxwell slip (GMS) friction model using a new proposed switching function. The GMS friction model is composed of two phases and a switching function, which guarantee the transition from one phase to another. The switching function is based on the friction model and its parameters which are unknown. Hence, a new switching function is proposed in this paper. The new switching function is validated experimentally. The identification of the GMS friction model is done using online least square estimator combined with filtering approaches and a linearisation in order to adopt the formulation of the friction model to the estimator mechanism. Moreover, the new proposed switching function is integrated with the process of the identification and it is validated using an experimental test. The experimental results show that the switching function proposed is convenient for the identification of the friction model.

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A survey of models, analysis tools and compensation methods for the control of machines with friction

Cited by 2,298 publications

References 101 publications

Servo-Controlled Pneumatic Pressure Oscillator for Respiratory Impedance Measurements and High-Frequency Ventilation

Servo-Controlled Pneumatic Pressure Oscillator for Respiratory Impedance Measurements and High-Frequency Ventilation

Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties

Identification of GMS friction model using a new switching function: experimental investigation

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