Nonlinear Control of a Pneumatic Actuator Based on a Dynamic Friction Model

Due to the characteristics of low stiffness, low air source pressure, and easy fluid saturation of the pneumatic servo system, the energy dissipation of the system during the working process is large, the system is easily affected by friction, and the compensation effect is not obvious. Especially, the "Flat roof phenomenon" will become stronger when changing the speed direction. It seriously affects the tracking accuracy of the pneumatic servo system. In this paper, the independent metering valve control structure is proposed to eliminate the energy dissipation caused by the coupling of two chambers, so that the air fluid characteristics are within the linear range as far as possible. The nonlinear adaptive robust control method is designed for the uncertainty of some parameters in the friction, external disturbances, and dynamic loads in the pneumatic system. At the same time, the stiffness adjustment and adaptive robust control of the system are coordinated to improve the dynamic performance of the pneumatic position servo system. The simulation and experimental results show that the adaptive robust controller with stiffness adjustment can effectively reduce the energy dissipation of the system, improve the position tracking accuracy of the system, and weaken the "Flat roof phenomenon" caused by friction.

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Adaptive friction compensation control of robotic pneumatic end-effector based on LuGre model

Dai

et al. 2023

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Purpose Considering the response lag and viscous slip oscillation of the system caused by cylinder piston friction during automatic polishing of aero-engine blades by a robotic pneumatic end-effector, the purpose of this study is to propose a constant force control method with adaptive friction compensation. Design/methodology/approach First, the mathematical model of the pneumatic end-effector is established based on the continuous LuGre model, and the static parameters of the LuGre model are identified to verify the necessity of friction compensation. Second, aiming at the problems of difficult identification of dynamic parameters and unmeasurable internal states in the LuGre model, the parameter adaptive law and friction state observer are designed to estimate these parameters online. Finally, an adaptive friction compensation backstepping controller is designed to improve the response speed and polishing force control accuracy of the system. Findings Simulation and experimental results show that, compared with proportion integration differentiation, extended state observer-based active disturbance rejection controller and integral sliding mode controller, the proposed method can quickly and effectively suppress the polishing force fluctuation caused by nonlinear friction and significantly improve the blade quality. Originality/value The pneumatic force control method combining backstepping control with the friction adaptive compensation based on LuGre friction model is studied, which effectively suppresses the fluctuation of normal polishing force.

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Nonlinear Control of a Pneumatic Actuator Based on a Dynamic Friction Model

Cited by 4 publications

References 30 publications

Motion control of hydraulic actuators with nonlinear friction compensation: Applied to variable valve systems of diesel engine

Motion control of hydraulic actuators with nonlinear friction compensation: Applied to variable valve systems of diesel engine

Friction compensation control of pneumatic position servo system based on the adjustable stiffness

Adaptive friction compensation control of robotic pneumatic end-effector based on LuGre model

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