Original scientific paper
https://doi.org/10.7305/automatika.2014.12.628
Friction with Hysteresis Loop Modeled by Tensor Product
Károly Széll
; Department of Mechatronics, Optics and Engineering Informatics, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, 1521 Budapest, Pf. 91., Hungary
András Czmerk
; Department of Mechatronics, Optics and Engineering Informatics, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, 1521 Budapest, Pf. 91., Hungary
Péter Korondi
; Department of Mechatronics, Optics and Engineering Informatics, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, 1521 Budapest, Pf. 91., Hungary
Abstract
Engineers encounter the problem of friction in any mechanical system. Friction force is strongly nonlinear and varies considerably while the system is working. In the case of high-precision applications friction makes the situation even more complex, as the stick-slip effect occurs near the target position. This paper introduces a pneumatic servo-system for investigation of the behavior of friction near the target position. A new model is proposed which takes the hysteresis loop of the friction also into consideration emphasizing the importance of hysteresis.This paper presents the tensorproduct (TP) based modeling of friction which is suitable for control design. The main advantage of the TP model transformation is that due to its polytopic model form Linear Matrix Inequality (LMI) can be immediately applied to the resulting model to yield controllers with guaranteed performance. The main contribution of this paper is the application of TP model transformation making the identification of friction parameters unnecessary by utilizing directly the measured data itself.
Keywords
Tensor Product; Friction Compensation; Pneumatic Cylinder; Stribeck Effect
Hrčak ID:
133200
URI
Publication date:
12.1.2015.
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