Abstract
Pneumatic systems offer a wide range of load capacity and velocities, present advantageous power to weight ratios and do not generate thermal or magnetic fields. However, their broader use in industry has been hindered by the difficulties found in fine motion or force control. Amongst the several phenomena that contribute to this scenario, friction in piston and rod seals is probably the most important one. Industrial pneumatic cylinders present friction forces with several undesired features for control purposes like highly nonlinear behavior, hysteresis and dwell time dependence.
The LuGre friction model presents a good trade-off between complexity and accuracy. In this work the LuGre model of an industrial pneumatic cylinder is identified and validated using experimental data. Static and dynamic parameters are estimated using a procedure described in literature and a new procedure to estimate one of the dynamic parameters is proposed. A comparison between both methods is provided.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Carneiro, J.F., Almeida, F.G.: Undesired oscillations in pneumatic systems. In: Tenreiro Machado, J.A., Machado, J.A.T., Luo, A.C.J., Barbosa, R.S., Silva, M.S., Figueiredo, L.B. (eds.) Nonlinear Science and Complexity, pp. 229–243. Springer, Heidelberg (2011)
Armstrong-Hélouvry, B., Dupont, P., Canudas de Wit, C.: A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction. Automatica 30(7), 1083–1138 (1994)
Karnopp, D.: Computer Simulation of Stick-Slip Friction in Mechanical Dynamic Systems. ASME J. Dyn. Syst., Meas., Control 107(1), 100–107 (1985)
Canudas de Wit, C., Olsson, H., Astrom, K., Lischinsky, P.: A new model for control of systems with friction. IEEE Transactions on Automatic Control 40(3), 419–425 (1995)
Dahl, P.: A solid friction model. Technical Report, Aerospace Corporation (1968)
Al-Bender, F., Lampaert, V., Swevers, J.: The Generalized Maxwell-Slip Model: A Novel Model for Friction Simulation and Compensation. IEEE Transactions on Automatic Control 50(11), 1883–1887 (2005)
Schindele, D., Aschemann, H.: Adaptive Friction Compensation Based on the LuGre Model for a Pneumatic Rodless Cylinder. In: 35th Annual Conference of IEEE on Industrial Electronics, IECON 2009, Porto, Portugal, November 3-5, pp. 1432–1437 (2009)
Meng, D., Tao, G., Chen, J., Ban, W.: Modeling of a pneumatic system for high-accuracy position control. In: International Conference on Fluid Power and Mechatronics (FPM), August 17-20, pp. 505–510 (2011)
Canudas de Wit, C., Lischinsky, P.: Adaptive friction compensation with partially known dynamic friction model. International Journal of Adaptive Control and Signal Processing 11(1), 65–80 (1997)
Carneiro, J.F., Almeida, F.G.: Using two servovalves to improve pneumatic force control in industrial cylinders. Int. J. of Adv. Manuf. Technol. 66(1-4), 283–301 (2013)
Åström, K.J.: Control of Systems with Friction. In: Proceedings of the 4th International Conference on Motion and Vibration Control, pp. 25–32 (1998)
Olsson, H., Åström, K.J., Canudas de Wit, C., Gafvert, M., Lischinsky, P.: Friction Models and Friction Compensation. European Journal of Control 4(3), 176–195 (1998)
Abebe, W.N.: Simulated and Experimental Sliding Mode of a Hydraulic Positioning System Control. MSc thesis, University of Akron (2006)
Meng, D., Tao, G., Chen, J., Ban, W.: Modeling of a Pneumatic System for High-Accuracy Position Control. In: International Conference on Fluid Power and Mechatronics, pp. 505–510 (2011)
Åström, K.J., Canudas de Wit, C.: Revisiting the LuGre Model - Stick-Slip Motion and Rate Dependence. IEEE Control Systems Magazine 28(6), 101–114 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Carneiro, J.F., de Almeida, F.G. (2015). LuGre Friction Model: Application to a Pneumatic Actuated System. In: Moreira, A., Matos, A., Veiga, G. (eds) CONTROLO’2014 – Proceedings of the 11th Portuguese Conference on Automatic Control. Lecture Notes in Electrical Engineering, vol 321. Springer, Cham. https://doi.org/10.1007/978-3-319-10380-8_44
Download citation
DOI: https://doi.org/10.1007/978-3-319-10380-8_44
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-10379-2
Online ISBN: 978-3-319-10380-8
eBook Packages: EngineeringEngineering (R0)