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A Study on the Adaptive Friction Compensator Design of a Hydraulic Proportional Position Control System  

이명호 (서울산업대학교 기계공학과)
박형배 (아이메카산업)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.12, no.6, 2003 , pp. 77-83 More about this Journal
Abstract
This paper deals with a position control problem of a hydraulic proportional position control system using a nonlinear friction compensation control. As nonlinear friction, stiction and coulomb friction forces are considered and modeled as deadzone and external disturbance respectively. In order to compensate this nonlinearities, we designed the controller which is the adaptive friction compensator using discrete time Model Reference Adaptive Control method in this paper. Digital Signal Processing board is employed for data acquisition and manipulation. The experimental results show that response is slow and steady-state error cannot be compensated properly without friction compensation but this compensator is effective to obtain fast response and good steady-state response.
Keywords
Adaptive Friction Compensator; Model Reference Adaptive Control; Digital Signal processing; Hydraulic Proportional Position Control System;
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