Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction Model
This paper aims to eliminate nonlinear friction from the performance of the digital hydraulic cylinder to enable it to have good adaptive ability. First, a mathematical model of a digital hydraulic cylinder based on the LuGre friction model was established, and then a dual-observer structure was des...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2021/8854424 |
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| _version_ | 1832552512324894720 |
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| author | Shouling Jiang Kun Zhang Hui Wang Donghu Zhong Jinpeng Su Zengkai Liu |
| author_facet | Shouling Jiang Kun Zhang Hui Wang Donghu Zhong Jinpeng Su Zengkai Liu |
| author_sort | Shouling Jiang |
| collection | DOAJ |
| description | This paper aims to eliminate nonlinear friction from the performance of the digital hydraulic cylinder to enable it to have good adaptive ability. First, a mathematical model of a digital hydraulic cylinder based on the LuGre friction model was established, and then a dual-observer structure was designed to estimate the unobservable state variables in the friction model. The Lyapunov method is used to prove the global asymptotic stability of the closed-loop system using the adaptive friction compensation method. Finally, Simulink is used to simulate the system performance. The simulation results indicate that the addition of adaptive friction compensation control can effectively reduce system static error, suppress system limit loop oscillation, “position decapitation,” “speed dead zone,” and low-speed creep phenomena, and improve the overall performance of the digital hydraulic cylinder. The control method has practical application value for improving the performance index of the digital hydraulic cylinder. |
| format | Article |
| id | doaj-art-818f51064eb84ecb8b17bb1739234fb5 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-818f51064eb84ecb8b17bb1739234fb52025-02-03T05:58:30ZengWileyShock and Vibration1070-96221875-92032021-01-01202110.1155/2021/88544248854424Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction ModelShouling Jiang0Kun Zhang1Hui Wang2Donghu Zhong3Jinpeng Su4Zengkai Liu5School of Mechanical Engineering, Liaoning Technical University, No. 88, Yulong Road, Fuxin, Liaoning 123000, ChinaShandong Provincial Key Laboratory of Robotics and Intelligent Technology, Shandong University of Science and Technology, No. 579, Qianwangang Road, Qingdao, Shandong 266590, ChinaSchool of Mechanical Engineering, Liaoning Technical University, No. 88, Yulong Road, Fuxin, Liaoning 123000, ChinaSchool of Mechanical Engineering, Liaoning Technical University, No. 88, Yulong Road, Fuxin, Liaoning 123000, ChinaShandong Provincial Key Laboratory of Robotics and Intelligent Technology, Shandong University of Science and Technology, No. 579, Qianwangang Road, Qingdao, Shandong 266590, ChinaShandong Provincial Key Laboratory of Robotics and Intelligent Technology, Shandong University of Science and Technology, No. 579, Qianwangang Road, Qingdao, Shandong 266590, ChinaThis paper aims to eliminate nonlinear friction from the performance of the digital hydraulic cylinder to enable it to have good adaptive ability. First, a mathematical model of a digital hydraulic cylinder based on the LuGre friction model was established, and then a dual-observer structure was designed to estimate the unobservable state variables in the friction model. The Lyapunov method is used to prove the global asymptotic stability of the closed-loop system using the adaptive friction compensation method. Finally, Simulink is used to simulate the system performance. The simulation results indicate that the addition of adaptive friction compensation control can effectively reduce system static error, suppress system limit loop oscillation, “position decapitation,” “speed dead zone,” and low-speed creep phenomena, and improve the overall performance of the digital hydraulic cylinder. The control method has practical application value for improving the performance index of the digital hydraulic cylinder.http://dx.doi.org/10.1155/2021/8854424 |
| spellingShingle | Shouling Jiang Kun Zhang Hui Wang Donghu Zhong Jinpeng Su Zengkai Liu Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction Model Shock and Vibration |
| title | Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction Model |
| title_full | Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction Model |
| title_fullStr | Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction Model |
| title_full_unstemmed | Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction Model |
| title_short | Research on Adaptive Friction Compensation of Digital Hydraulic Cylinder Based on LuGre Friction Model |
| title_sort | research on adaptive friction compensation of digital hydraulic cylinder based on lugre friction model |
| url | http://dx.doi.org/10.1155/2021/8854424 |
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