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http://dx.doi.org/10.7839/ksfc.2013.10.1.001

Position Control of a Pneumatic Cylinder Considering Friction Compensation  

Kim, D.T. (School of Mechanical and Automotive Engineering, Kyungil University)
Zhang, Z.J. (Department of Mechanical Engineering, The Graduate School, Kyungil University)
Publication Information
Journal of Drive and Control / v.10, no.1, 2013 , pp. 1-6 More about this Journal
Abstract
The paper describes a technique that compensates a friction in pneumatic cylinder to perform the position control. The friction is one of the most common nonlinearities present in pneumatic actuating systems. For accurate position control and low velocity control, control strategies usually rely on accurate estimation of friction. This paper presents a observer to estimate the friction force in the pneumatic cylinder from the pressures in cylinder chambers. Also, the stiction compensation of a pneumatic cylinder is obtained by adding pulses to the control signal using impulsive control. The characteristics of the pulses in impulsive control are determined from the control action. The simulation results are proved that the method proposed here is effective.
Keywords
Pneumatic cylinder; Friction compensation; Observer;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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