Two Layer Fuzzy Generalized Maxwell-Slip Compensator in Direct Drive Servo Hydraulic System

Abstract

In industrial machinery units in which handle with high loads, hydraulic cylinders are often used to actuate the manipulators. The nonlinear effects of friction in the hydraulic cylinders can be a problem if they disturb the motion of the hydraulic servo system.Friction compensation is a prerequisite for accurate in a hydraulic servo system. This paper presents anintelligent nonlinear friction compensation framework,which the purpose is to develop a friction compensator strategy based on adaptive twolayer fuzzy controller. Thecompensator Generalized Maxwell-Slip fuzzy,combined with fuzzy controller, will be implemented to reduce the lackperformance resulting from friction. The electiveness of this approach is demonstrated by experiments on the direct drive servo hydraulic system.

Enhancement the Maneuverability of Tele-Hydraulic System Using Fuzzy Friction Compensator

“…The adaptive nonlinear friction compensation can be used as model-based compensation strategy for adaptive dynamic friction model [2 3] in which the friction state is estimated by a dual-observer in LuGre friction model and a robust hydraulic also was considered in this study. Many researchers utilized the model-based friction estimator scheme [4][5]. In reference [6][7][8][9] proposed an r intelligent fuzzy compensator to improve stability and tracking performance.…”