Friction compensation using Coulomb friction model with zero velocity crossing estimator for a force controlled model in the loop suspension test rig

Eamcharoenying, Pooh; Hillis, Andrew; Darling, J

doi:10.1177/0954406215592052

Cited by 7 publications

(9 citation statements)

References 18 publications

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“…The actuator used in these studies exhibits nontrivial Coulomb friction; this is compensated as proposed by Eamcharoenying et al 26 in order to minimize spurious effects. This scheme for deterministic systems is based on applying a step in the command current to the actuator in order to mitigate the expected Coulomb friction force.…”

Section: Theory and Methodsmentioning

confidence: 99%

“…Nonlinear sliding friction acts on the armature of the actuator. To minimize the effect of nonlinear friction in the hybrid test, a Coulomb friction compensator as proposed by Eamcharoenying et al 26 is applied in the Simulink real-time target controller which also executes the position and velocity control loops of the actuator.…”

Section: Experimental Systemmentioning

confidence: 99%

“…A fifth-order model of the actuator with nonlinear Coulomb friction was identified for preliminary simulation of the hybrid tests. Figure 7 illustrates the model and actuator responses obtained with and without the use of the friction compensator proposed by Eamcharoenying et al 26 Without friction compensation, the actuator is seen to exhibit significant phase lag particularly in the frequency range of 0.1-10 Hz. This effect is most notable at low amplitudes, such as 0.5 mm, where the velocities are small and the actuation forces are more comparable to the forces of friction.…”

Section: Actuator Characterizationmentioning

confidence: 99%

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Passivity control for nonlinear real-time hybrid tests

Peiris

Plummer

Bois

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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In real-time hybrid testing, systems are separated into a numerically simulated substructure and a physically tested substructure, coupled in real time using actuators and force sensors. Actuators tend to introduce spurious dynamics to the system which can result in inaccuracy or even instability. Conventional means of mitigating these dynamics can be ineffective in the presence of nonlinearity in the physical substructure or transfer system. This article presents the first experimental tests of a novel passivity-based controller for hybrid testing. Passivity control was found to stabilize a real-time hybrid test which would otherwise exhibit instability due to the combination of actuator lag and a stiff physical substructure. Limit cycle behaviour caused by nonlinear friction in the actuator was also reduced by 95% with passivity control, compared to only 64% for contemporary methods. The combination of passivity control with conventional methods is shown to reduce actuator lag from 35.3° to 13.7°. A big advantage of passivity control is its simplicity compared with model-based compensators, making it an attractive choice in a wide range of contexts.

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Section: Theory and Methodsmentioning

confidence: 99%

Section: Experimental Systemmentioning

confidence: 99%

Section: Actuator Characterizationmentioning

confidence: 99%

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Passivity control for nonlinear real-time hybrid tests

Peiris

Plummer

Bois

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…For real-time control, a Simulink Real-time Target is used to execute the position and velocity loops while the current loop runs in the Xenus XTL motor driver. Due to nontrivial friction acting on the actuator shaft, a simple Coulomb friction compensator as proposed by Eamcharoenying et al 10 is utilized, although due to the complex nature of the friction, complete elimination of friction is not achieved albeit it is reduced to a notable extent. Table 1 presents the parameters of the hybrid test.…”

Section: Methodsmentioning

confidence: 99%

Passivity-based adaptive delay compensation for real-time hybrid tests

Peiris

Bois

Plummer

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a novel passivity-based adaptive delay compensation scheme for cancelling actuator dynamics in real-time hybrid testing. This scheme uses the energy added to the system by actuation hardware, to quantify a variable delay, which is subsequently used for delay compensation. It offers the advantage of correcting for tracking errors and instability in hybrid tests and can be implemented without any information of the actuator’s dynamics. Thus, it offers an advantage over most conventional actuator dynamics mitigation schemes which require an accurate model of the actuator prior to testing. Experimental results compare the performance of passivity-based adaptive delay compensation with that of a state-of-the-art adaptive delay compensation scheme based on position. It was found that passivity-based adaptive delay compensation continuously updates the delay estimate while the position-based scheme only updates the delay when the system crosses zero. The performance of both schemes was found to be similar for sinusoidal inputs, mitigating phase lags of up to 35.6° at 10 Hz in the hybrid system tested. Passivity-based adaptive delay compensation requires no extra hardware as it can be run on the same hardware used to drive the actuator, enabling an affordable solution applicable to a wide range of hybrid tests.

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“…Among other nonlinear behaviors, characteristic behavior of friction has a great influence on the performance and precision of the motion platform. Different friction models [41] can be implemented as a model for feedforward compensation [42,43,44]. The experimental setup is utilized in order to identify the required optimal feedforward gain.…”

Section: Compensation Of Nonlinear Effectsmentioning

confidence: 99%