Position control of a servo-pneumatic actuator using generalized Maxwell-Slip friction model

Soleymani, Farzan; Rezaei, Seyed Mehdi; Sharifi, Siavash; Zareinejad, Mohammad

doi:10.1109/icrom.2016.7886854

Cited by 5 publications

(4 citation statements)

References 10 publications

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“…Friction compensation is also significant in step positioning on top of trajectories. As presented by Soleymani et al [19], Tran et al [20], and Rahman et al [21], the RMSE errors for sinewave tracking were reduced from 15% to up to 50%. Figure 28 shows the tracking error of a sinewave trajectory comparison between two different friction models applied where GMS model performs better than Stribeck model.…”

Section: Experimental Analysismentioning

confidence: 71%

“…https://doi.org/10.31436/iiumej.v24i2. 2766 An example of a controller that adapts both nonlinear controls with a friction compensation is an SMC with generalized Maxwell Slip (GMS) dynamic friction as explored by [19], whereby the author adapts both dynamic and static friction. The GMS model is applied during near zero velocity while static friction is implemented during velocity.…”

Section: Introductionmentioning

confidence: 99%

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Triple Nonlinear Hyperbolic Pid With Static Friction Compensation for Precise Positioning of a Servo Pneumatic Actuator

Kamaludin¹,

Abdullah²,

Salim³

et al. 2023

IIUMEJ

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Accurate and precise positioning control is critical in designing a positioning servo pneumatic system. The internal friction force of the pneumatic is one of the disturbances that make it challenging to achieve accurate and precise positioning. Dynamic friction identification and modelling are usually very complex and computationally exhaustive. In addition, pneumatic actuators are nonlinear systems, and applying linear control to the system is a mismatch. This study proposes an enhanced triple nonlinear hyperbolic PID controller with static friction (T-NPID+FSS) feedback module. T-NPID is integrated with nonlinear hyperbolic functions at each PID gain, hence the name. The reference in designing the T-NPID is the Popov stability criterion. Meanwhile, static friction (comparatively more straightforward than dynamic friction) is identified by measuring the actuator's internal friction at various velocities and applying it to the static friction model. T-NPID+FSS is compared to a classical PID, a PID with static friction (PID+FSS), and T-NPID without the friction module. With the comparisons, the performance gains of each module are clear. While most previous research focuses on the sinusoidal wave tracking performance (measuring the maximum tracking error, MTE, and root mean square error, RMSE), the analysis in this research focuses on obtaining precise positioning; steady-state analysis is the primary measurement. However, transient response and integral of absolute error (IAE) analysis are also observed to ensure no significant drawback in the controller's performance. T-NPID+FSS achieved the best precise positioning control, with 88.46% improvement over PID, 71.15% over PID+FSS, and 59.46% over T-NPID. The final controller is also on par with T-NPID for transient responses compared to the base PID. Although the FSS model caters to friction compensation, optimizing the FSS parameter by applying artificial intelligence, such as Neural Networks (NN) and Genetic Algorithm (GA), will increase the friction modeling‘s accuracy, and improve the compensation. ABSTRAK: Kawalan kedudukan yang tepat dan jitu adalah kitikal dalam mereka bentuk sistem pneumatik servo penentududukan. Daya geseran dalaman pneumatik adalah salah satu gangguan yang menyukarkan untuk mencapai kedudukan yang tepat dan jitu. Penentuan daya geseran dinamik dan pemodelannya selalunya kompleks dan pengiraan menyeluruh yang sukar. Selain itu, pneumatik ialah sistem tak linear, menggunakan kawalan linear pada sistem adalah tidak padan. Kajian ini mencadangkan PID hiperbolik tiga fungsi tak linear yang dipertingkatkan dengan modul suapan-balik geseran statik (T-NPID+FSS). T-NPID diintegrasikan dengan tiga fungsi hiperbolik tidak linear pada setiap pendarab PID, member pada nama. T-NPID direka bentuk dengan kriteria kestabilan Popov. Manakala geseran statik (secara perbandingan lebih mudah daripada geseran dinamik) dikenal pasti dengan mengukur geseran dalaman penggerak pada pelbagai halaju dan menerapkannya pada model geseran statik. T-NPID+FSS dibandingkan dengan PID klasik, PID dengan geseran statik (PID+ FSS) dan T-NPID tanpa modul geseran. Dengan perbandingan, prestasi peningkatan setiap modul adalah jelas. Walaupun kebanyakan penyelidikan terdahulu memfokuskan pada prestasi penjejakan gelombang sinusoidal (mengukur ralat penjejakan maksimum, MTE dan ralat purata kuasa dua akar, RMSE), analisis kajian ini memberi tumpuan kepada mendapatkan kedudukan yang tepat; oleh itu, analisis keadaan akhir ialah ukuran utama. Walau bagaimanapun, tindak balas sementara dan analisis kamiran ralat mutlak (IAE) juga diperhatikan untuk memastikan tiada kelemahan ketara dalam prestasi pengawal. T-NPID+FSS mencapai kawalan penentududukan tepat terbaik, dengan peningkatan 88.46% berbanding PID, 71.15% berbanding PID+FSS dan 59.26% berbanding T-NPID. Pengawal yang dicadangkan juga setanding dengan T-NPID untuk respons sementara berbanding PID asas. Walaupun model FSS telah ditunjukkan untuk memenuhi pampasan geseran, mengoptimumkan parameter FSS dengan menggunakan kecerdasan buatan (artificial intelligence, AI) seperti Neural Networks, NN dan Genetic Algorithms, GA akan meningkatkan ketepatan dan pampasan pemodelan geseran.

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Section: Experimental Analysismentioning

confidence: 71%

Section: Introductionmentioning

confidence: 99%

Triple Nonlinear Hyperbolic Pid With Static Friction Compensation for Precise Positioning of a Servo Pneumatic Actuator

Kamaludin¹,

Abdullah²,

Salim³

et al. 2023

IIUMEJ

View full text Add to dashboard Cite

show abstract

“…It includes both velocity and displacement in modeling friction behavior [7]. GMS is now one of the most used models in piston seal design [8], [9], [10]. Therefore, in this study, the GMS model is used as a benchmark for validating the proposed method.…”

Section: Introductionmentioning

confidence: 99%

Piston-Seals Friction Modeling Using a Modified Maxwell Slip Formation and Genetic Identification Algorithm

et al. 2022

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Improving spontaneity, shifting control, and efficiency are the main goals of actuators for hydraulic automated transmissions. Friction losses of piston-seals play an essential role in achieving these goals. Therefore, modeling the complex friction behavior of piston seals leads to a better understanding of the determinant factors of energy losses and, consequently, the realization of more efficient transmission actuators. This paper proposes a piston-seal friction model based on the Generalized Maxwell-Slip model. The proposed model introduces an additional hydraulic-pressure dependency that emulates the influence of cylinder-pressure on the displacement variable while accounting for various piston-seal structures. A Genetic Algorithm is also applied to identify and optimize the parameters of the proposed friction model. Simulations with O-Ring, D-Ring, and Bonded Piston seals were developed to show the validity of the proposed model in practical scenarios. The results were also compared with the original Generalized Maxwell Slip friction model to show the superiority of the proposed model in representing the experimental data.

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“…). This becomes critical when the perpendicular force is the dominant one, such as in airplane wings and engine blades ( Figure 1A) [22][23][24][25][26][27]. In all aforementioned parameters, the abrupt mechanical and thermodynamic changes at the interface of A and B are the origin of stress in the system.…”

Section: Introductionmentioning

confidence: 99%

Predictive Modeling of Corrosion in Al/Mg Dissimilar Joint

et al. 2019

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In the absence of any abnormality (standard conditions), the gradient of any mechanical/thermodynamic stress would be intensified at the dissimilar joint due to an abrupt change in the chemical composition. This paper aims to investigate the effect of delocalizing this stress by imposing an optimum chemical gradient within the dissimilar joint. In this work, we computationally demonstrated that a homogenous distribution of magnesium atoms in the aluminum (100) structure with a specific chemical gradient could potentially reduce the susceptibility of the Mg/Al dissimilar joint towards micro-galvanic corrosion. This is achieved through the minimization of the work function gradient within the dissimilar joint.

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Position control of a servo-pneumatic actuator using generalized Maxwell-Slip friction model

Cited by 5 publications

References 10 publications

Triple Nonlinear Hyperbolic Pid With Static Friction Compensation for Precise Positioning of a Servo Pneumatic Actuator

Triple Nonlinear Hyperbolic Pid With Static Friction Compensation for Precise Positioning of a Servo Pneumatic Actuator

Piston-Seals Friction Modeling Using a Modified Maxwell Slip Formation and Genetic Identification Algorithm

Predictive Modeling of Corrosion in Al/Mg Dissimilar Joint

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