2018
DOI: 10.1051/matecconf/201819202019
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PID electro-hydraulic cylinder force tracking system with friction compensation

Abstract: Abstract. Friction can be found in all mechanical systems, and is the cause of control tracking error. In this article, LuGre friction model for symmetric hydraulic cylinder was studied and obtained experimentally. The estimated friction force was applied for reference force compensation. Force tracking performances of PID force control systems with and without friction compensation were tested and compared. Control system with friction compensation outperformed one without in all cases of tracking tests. The … Show more

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Cited by 3 publications
(4 citation statements)
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“…The proposed controller (2), (5), (7), (13), and filter (24) is implemented in a real-time data acquisition board dSPACE using a sample time of T s = 0.0001 seconds and the Euler fixed-step solver. The only output of the system is given by the cylinder's position, in order to have access to velocity is used a differentiator based on the model proposed in [25], [50].…”
Section: Methodsmentioning
confidence: 99%
See 3 more Smart Citations
“…The proposed controller (2), (5), (7), (13), and filter (24) is implemented in a real-time data acquisition board dSPACE using a sample time of T s = 0.0001 seconds and the Euler fixed-step solver. The only output of the system is given by the cylinder's position, in order to have access to velocity is used a differentiator based on the model proposed in [25], [50].…”
Section: Methodsmentioning
confidence: 99%
“…Firstly, an experimental comparison is made to appreciate the performance of the uncertainty and disturbance estimator (13); the results are shown in Figures 12 and 13, where the estimator is turned off after 30 seconds of the experiment have elapsed. When the estimator is not used, the performance of the closed-loop system decreases to a position error e 1 of −0.0065 meters approximately.…”
Section: Methodsmentioning
confidence: 99%
See 2 more Smart Citations