A continuous version of the LuGre friction model applied to the adaptive control of a pneumatic servo system

Sobczyk, Mario; Gervini, Vitor Irigon; Perondi, Eduardo André; Cunha, Mauro André Barbosa

doi:10.1016/j.jfranklin.2016.06.003

Cited by 30 publications

(18 citation statements)

References 52 publications

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“…Na modelagem de cada atuador pneumático, utilizamos as equações de continuidade e movimento. Assim, temos as seguintes Equações (3), (4) e (5), cuja dinâmica pode ser obtida aplicando o princípio da conservação de energia e as leis de gás ideais apresentadas em [12] e [10].…”

Section: Modelagem Matemáticaunclassified

“…Onde p supé a pressão de suprimento, p atmé a pressão atmosférica e β ench e β esv são coeficientes constantes característicos respectivamente do enchimento e do esvaziamento das câmaras do cilindro. O atritoé outra não linearidade que representa desafios, este modelo de atritoé utilizado com muita frequência no meio cientifico, pois se baseia no entendimento do mecanismo microscópico do fenômeno de atrito, dado pela Equação (10).…”

Section: Modelagem Matemáticaunclassified

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Modelagem Matemática de um Robô Gantry para Aplicações Agrícolas em Estufas

Pörsch¹,

Goergen²,

Flores³

et al. 2018

Proceeding Series of the Brazilian Society of Computational and Applied Mathematics

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Resumo. O presente trabalho tem como objetivo a pesquisa e desenvolvimento de modelagem matemática de um robô tipo Gantry com atuadores pneumáticos aplicados na ativação de mecanismos de equipamentos agrícolas de baixo custo no contexto da agricultura de precisão. A metodologia adotada consiste em pesquisa de tecnologias aplicadaà agricultura de precisão, o desenvolvimento do modelo matemático para descrever o comportamento de um protótipo de baixo custo que inclui a identificação de suas características não-lineares. Para que em um trabalho futuro seja realizada a simulação computacional das estratégias de controle, bem como a realização dos testes do protótipo de um robô gantry com transmissão pneumática em uma estufa robótica para a validação experimental. A automação de baixo custo pode contribuir para aumentar o potencial das aplicações de tecnologia de agricultura de precisão através de uma metodologia integrada na pesquisa e desenvolvimento de máquinas agrícolas através da robótica.

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Section: Modelagem Matemáticaunclassified

Modelagem Matemática de um Robô Gantry para Aplicações Agrícolas em Estufas

Pörsch¹,

Goergen²,

Flores³

et al. 2018

Proceeding Series of the Brazilian Society of Computational and Applied Mathematics

View full text Add to dashboard Cite

show abstract

“…For this reason, some dynamic friction models were proposed, such as the Dahl model [10,11], Bristle model [12,13], and LuGre model [14][15][16]. Although these models can describe the dynamic properties of friction, the Dahl model cannot describe the static friction and Stribeck effects.…”

Section: Introductionmentioning

confidence: 99%

A Novel Virtual Sensor for Estimating Robot Joint Total Friction Based on Total Momentum

Fan

Fang

et al. 2019

Applied Sciences

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Robot joint friction is an important and complicated issue in improving robot control performance. In this paper, a virtual sensor based on the total generalized momentum concept is proposed to estimate the total friction torque, including both the motor-side and link-side friction, of robot joints without joint torque sensors. The proposed algorithm only requires a robot joint dynamics model and not a complex friction model dependent on factors such as time and velocity. By compensating for the estimated friction torque with a robot joint controller, the trajectory tracking performance of the controller, especially the velocity tracking performance, can be improved. To verify the effectiveness of the developed algorithm, 2-DOF planar manipulator simulations and single-joint system experiments are conducted. The simulation and experimental results show that the designed virtual sensor can effectively estimate the total joint friction disturbance and that the controller trajectory tracking performance is improved after observed friction compensation. However, the position tracking performance improvement of the controller is less than that for the velocity tracking performance improvement during the experiments. In addition, the velocity step response ability and velocity tracking performance of the controller are improved more at low velocities than that at high velocities in the experiments. The proposed algorithm has engineering and theoretical significance for estimating robot joint friction and improving the performance of robot joint controllers.

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“…The dynamic friction model describes friction as a function of relative velocity and displacement [15], such as LuGre friction model. The paper [18] presents the application of the LuGre friction model to the friction compensation scheme of a pneumatic servo system, where the friction parameters are determined by using adaptive estimation instead of extensive identification procedures. In addition, Raul [19] built a cascade controller with the LuGre model-based friction compensation, which can effectively control the tracking error of the pneumatic system under the premise that the system parameters were known.…”

Section: Introductionmentioning

confidence: 99%

Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System

Zhang

Wei

et al. 2018

Applied Sciences

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The friction interference in the pneumatic rotary actuator is the primary factor affecting the position accuracy of a pneumatic rotary actuator servo system. The paper proposes an evolutionary algorithm-based friction-forward compensation control architecture for improving position accuracy. Firstly, the basic equations of the valve-controlled actuator are derived and linearized in the middle position, and the transfer function of the system is further obtained. Then, the evolutionary algorithm-based friction feedforward compensation control architecture is structured, including that the evolutionary algorithm is used to optimize the controller coefficients and identify the friction parameters. Finally, the contrast experiments of four control strategies (the traditional PD control, the PD control with friction feedforward compensation without evolutionary algorithm tuning, the PD control with friction feedforward compensation based on the differential evolution algorithm, and the PD control with friction feedforward compensation based on the genetic algorithm) are carried out on the experimental platform. The experimental results reveal that the evolutionary algorithm-based friction feedforward compensation greatly improves the position tracking accuracy and positioning accuracy, and that the differential evolution-based case achieves better accuracy. Also, the system with the friction feedforward compensation still maintains high accuracy and strong stability in the case of load.

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A continuous version of the LuGre friction model applied to the adaptive control of a pneumatic servo system

Cited by 30 publications

References 52 publications

Modelagem Matemática de um Robô Gantry para Aplicações Agrícolas em Estufas

Modelagem Matemática de um Robô Gantry para Aplicações Agrícolas em Estufas

A Novel Virtual Sensor for Estimating Robot Joint Total Friction Based on Total Momentum

Evolutionary Algorithm-Based Friction Feedforward Compensation for a Pneumatic Rotary Actuator Servo System

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