High Precision Control for Hydraulic Servo Systems with Large Frictional Torques and Experimental Research

doi:10.3166/ejc.14.437-444

European Journal of Control

Volume 14, Issue 5, 2008, Pages 437-444

https://doi.org/10.3166/ejc.14.437-444 Get rights and content

A novel control scheme for hydraulic servo systems with large frictional torques is proposed based on a sliding-mode variable structure controller combined with a frictional state observer. The sliding-model variable structure control law and the sliding-model frictional state observer are detailed. The LuGre dynamic friction model is adopted to estimate the frictional torques and reduce the effects caused by the nonlinear frictions. Experimental research on hollow hydraulic motor systems is carried out to validate the proposed control scheme. The experimental results show that the application of the proposed control scheme is successful and the good position-tracking performance with high precision is attained in the presence of dynamic frictions even with large frictional torques and very low velocities.

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Citation Excerpt :
Due to the simplicity of LuGre friction model, it is the most widely used friction model in the control of electro-hydraulic systems [39–41], especially in the case of friction compensation [42,43]. Often, the adaptive control strategy [44,45], slide mode control method [46], backstepping method [47] are used in friction compensation incorporates friction observer based upon LuGre model. Experiments show that the friction force-velocity hysteretic phenomenon exists in the fluid lubrication regime in which the hydraulic cylinder is actuated in high velocities.
Friction modeling of hydraulic actuators is essential to system control and the prediction accuracies of friction models (e.g., Stribeck, LuGre) need to be improved when they were applied to hydraulically actuated systems. The test platform for hydraulic cylinders was constructed and the friction forces of plunger type hydraulic actuators were measured under different operating conditions. The dynamic behaviors of film thickness of seal/rod interface were investigated based on elastic hydrodynamic lubrication (EHL) method. The effects of acceleration of rod on friction force were examined using coherence function estimation technique. The Stribeck and LuGre model were modified by incorporating physically based hysteretic film dynamics and Bouc–Wen model into Stribeck function, respectively. It is shown that the Stribeck and LuGre model cannot preferably describe the friction force-velocity behavior, especially for the fluid lubrication regime. The modified Stribeck and LuGre model can simulate the hysteretic behavior of friction force-velocity loop more effectively than unmodified ones and the friction estimation accuracies of Stribeck and LuGre model were improved remarkably.
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High Precision Control for Hydraulic Servo Systems with Large Frictional Torques and Experimental Research

Control Eng Pract

Energy Convers Manage

Survey of models, analysis tools and compensation methods for the control of machines with friction

Automatica

The generalized Maxwell slip model: a novel model for friction simulation and compensation

IEEE Trans Auto Control

Mathematical study of the Dahl's friction model

Eur J Mech, A/Solids

A new model for control of systems with friction

IEEE Trans Auto Control

Design of integral variable structure controller and application to electro hydraulic velocity servo system

IEE Proc D Contr Theory Appl

The position tracking control of precise servo systems with nonlinear dynamic friction using variable structure control and friction observer

JSME Int J Series C