Adaptive friction compensation control of robotic pneumatic end-effector based on LuGre model
ISSN: 0143-991x
Article publication date: 19 May 2023
Issue publication date: 9 August 2023
Abstract
Purpose
Considering the response lag and viscous slip oscillation of the system caused by cylinder piston friction during automatic polishing of aero-engine blades by a robotic pneumatic end-effector, the purpose of this study is to propose a constant force control method with adaptive friction compensation.
Design/methodology/approach
First, the mathematical model of the pneumatic end-effector is established based on the continuous LuGre model, and the static parameters of the LuGre model are identified to verify the necessity of friction compensation. Second, aiming at the problems of difficult identification of dynamic parameters and unmeasurable internal states in the LuGre model, the parameter adaptive law and friction state observer are designed to estimate these parameters online. Finally, an adaptive friction compensation backstepping controller is designed to improve the response speed and polishing force control accuracy of the system.
Findings
Simulation and experimental results show that, compared with proportion integration differentiation, extended state observer-based active disturbance rejection controller and integral sliding mode controller, the proposed method can quickly and effectively suppress the polishing force fluctuation caused by nonlinear friction and significantly improve the blade quality.
Originality/value
The pneumatic force control method combining backstepping control with the friction adaptive compensation based on LuGre friction model is studied, which effectively suppresses the fluctuation of normal polishing force.
Keywords
Acknowledgements
Funding: National Key R&D Program of China(2019YFB1311104).
Citation
Dai, S., Li, S., Ji, W., Wang, R. and Liu, S. (2023), "Adaptive friction compensation control of robotic pneumatic end-effector based on LuGre model", Industrial Robot, Vol. 50 No. 5, pp. 848-860. https://doi.org/10.1108/IR-01-2023-0010
Publisher
:Emerald Publishing Limited
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