Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Position Control of a Pneumatic Cylinder Considering Friction Compensation

마찰력 보상을 고려한 공기압 실린더의 위치제어

  • Kim, D.T. (School of Mechanical and Automotive Engineering, Kyungil University) ;
  • Zhang, Z.J. (Department of Mechanical Engineering, The Graduate School, Kyungil University)
  • Received : 2012.10.22
  • Accepted : 2012.12.24
  • Published : 2013.03.01
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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.

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References

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