scholarly journals Nonlinear Control of a Pneumatic Actuator Based on a Dynamic Friction Model

2021 ◽  
Vol 67 (9) ◽  
pp. 458-472
Author(s):  
Xuan Tran Bo
Keyword(s):  
Friction Force ◽  
Control Method ◽  
Experimental Studies ◽  
Friction Model ◽  
Pneumatic Actuator ◽  
Dynamic Friction ◽  
Lugre Model ◽  
Nonlinear Characteristics ◽  
Sliding Control ◽  
Nonlinear Controllers

This paper presents a new controller for the position of a pneumatic actuator. The controller is designed based on the multiple-surface sliding control method in combination with a frictional compensator. The multiple-surface sliding control method is applied to deal with the nonlinear characteristics of the pneumatic system, and the frictional compensator is applied to compensate for the friction force in the pneumatic actuator. The friction force is estimated based on a dynamic friction model (the LuGre model). Both simulation and experimental studies are done to evaluate the new controller. The evaluation results indicate significant improvement in the tracking position error of the new controller comparing to the multiple-surface sliding controller without friction compensation and other nonlinear controllers.

Modeling and Simulation of the Swing System of Crawler-Type Medium Hydraulic Excavator Using Dynamic Friction Model

2014 ◽  
Author(s):  
Ji-Min Lee ◽  
Jae-Hong Cho ◽  
Jae-Hyeong Yoo
Keyword(s):  
Cross Correlation ◽  
Static Friction ◽  
Friction Model ◽  
Hydraulic Excavator ◽  
Dynamic Friction ◽  
Analysis Model ◽  
Lugre Model ◽  
Simulation Accuracy ◽  
Stribeck Effect ◽  
System A

An analysis model is presented in this paper to simulate the dynamics of the swing system of crawler-type medium hydraulic excavator. It is found from experiments that the static friction model cannot simulate actual friction phenomena such as the Stribeck effect which can be observed in real swing system. A dynamic friction model, i.e., the simplified LuGre model, has been implemented for more accurate simulation in the theoretical analysis. The validity of the simulation model adopting the dynamic friction model has been verified by comparing in time domain the simulated swing angle with that from actual swing test. Cross-correlation between the simulated and measured swing angles turned out to be 0.92. It can be concluded, therefore, that the proposed dynamic friction model considerably improves the simulation accuracy.

scholarly journals Modeling Friction Performance of Drill String Torsional Oscillation Using Dynamic Friction Model

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Xingming Wang ◽  
Ping Chen ◽  
Zhenhua Rui ◽  
Fanyao Jin
Keyword(s):  
Friction Force ◽  
Torsional Vibration ◽  
Transverse Velocity ◽  
Torsional Oscillation ◽  
Friction Model ◽  
Drill String ◽  
Dynamic Friction ◽  
Drilling Mud ◽  
Friction Behavior ◽  
Horizontal Drilling

Drill string torsional and longitudinal oscillation can significantly reduce axial drag in horizontal drilling. An improved theoretical model for the analysis of the frictional force was proposed based on microscopic contact deformation theory and a bristle model. The established model, an improved dynamic friction model established for drill strings in a wellbore, was used to determine the relationship of friction force changes and the drill string torsional vibration. The model results were in good agreement with the experimental data, verifying the accuracy of the established model. The analysis of the influence of drilling mud properties indicated that there is an approximately linear relationship between the axial friction force and dynamic shear and viscosity. The influence of drill string torsional oscillation on the axial friction force is discussed. The results indicated that the drill string transverse velocity is a prerequisite for reducing axial friction. In addition, low amplitude of torsional vibration speed can significantly reduce axial friction. Then, increasing the amplitude of transverse vibration speed, the effect of axial reduction is not significant. In addition, by involving general field drilling parameters, this model can accurately describe the friction behavior and quantitatively predict the frictional resistance in horizontal drilling.

scholarly journals Adaptive Compensation of Friction Forces with Differential Filter

2008 ◽  
Vol 3 (1) ◽  
pp. 80 ◽  
Author(s):  
Kouichi Mitsunaga ◽  
Takami Matsuo
Keyword(s):  
Friction Force ◽  
Adaptive Controller ◽  
Friction Model ◽  
Dynamic Friction ◽  
Nonlinear Friction ◽  
Adaptive Compensation ◽  
Friction Forces ◽  
Fuzzy Adaptive Controller ◽  
Fuzzy Adaptive

In this paper, we design an adaptive controller to compensate the nonlinear friction model when the output is the position. First, we present an adaptive differential filter to estimate the velocity. Secondly, the dynamic friction force is compensated by a fuzzy adaptive controller with position measurements. Finally, a simulation result for the proposed controller is demonstrated.

Experimental Investigations of the Rubber-Asphalt Sliding Pair Dynamics

2002 ◽  
Author(s):  
Ante Bozˇic´ ◽  
Ivan Petrovic´ ◽  
Nedjeljko Peric´ ◽  
Jadranko Matusˇko
Keyword(s):  
Friction Coefficient ◽  
Dynamic Behavior ◽  
Friction Force ◽  
Contact Surface ◽  
Friction Model ◽  
Laboratory Model ◽  
Experimental Investigations ◽  
Dynamic Friction ◽  
The Road ◽  
Friction Models

A laboratory model for experimental investigations of the rubber-asphalt sliding pair has been designed with the purpose of better understanding of dynamic behavior of the friction force in the contact patch between the car tire and the road. Its design is described and some experimental results are given. These results confirm that it is essential to use a dynamic friction model in order to describe friction force in contact between the car tire and the road. Moreover, they indicate that the existing dynamic friction models night be physically incorrect regarding the change of friction coefficient for an asperity bristle passing through the contact surface.

Vibration Isolation with Semi-Active Friction Damping

2011 ◽  
Vol 199-200 ◽  
pp. 1041-1045
Author(s):  
Yong Liu ◽  
Li Hua Wen
Keyword(s):  
Active Control ◽  
Friction Force ◽  
Vibration Isolation ◽  
Control Method ◽  
Friction Model ◽  
Force Model ◽  
Friction Damping ◽  
High Frequencies ◽  
Active Friction ◽  
Active Control Method

This study explores the effect of semi-active friction damping on vibration isolation systems by means of numerical simulation. Since the Lugre friction model can describe many phenomena observed in laboratories, it is chosen to provide accurate friction force model for the analysis and simulations. The drawback of the passive friction damping system is that it decreases the resonance response at the cost of worsening the performance for high frequencies. A semi-active control method (skyhook method) is used to tune the normal force so that the energy dissipated by the friction force is maximized. Such semi-active friction damping system is simple but efficient, and it can achieve result almost as good as that of active systems. Results from numerical simulations show that compared with passive system, semi-active control method decreases the response significantly for both low and high frequencies, with harmonic and random excitations.

Friction Force and Stresses Analysis for Contact of Assembled Details

2006 ◽  
Vol 113 ◽  
pp. 334-338
Author(s):  
Z. Dreija ◽  
O. Liniņš ◽  
Fr. Sudnieks ◽  
N. Mozga
Keyword(s):  
Mechanical Properties ◽  
Surface Roughness ◽  
Plastic Deformation ◽  
Friction Force ◽  
Sliding Friction ◽  
Friction Model ◽  
Contact Interface ◽  
Finite Element Program ◽  
Elastic Plastic ◽  
Element Program

The present work deals with the computation of surface stresses and deformation in the presence of friction. The evaluation of the elastic-plastic contact is analyzed revealing three distinct stages that range from fully elastic through elastic-plastic to fully plastic contact interface. Several factors of sliding friction model are discussed: surface roughness, mechanical properties and contact load and areas that have strong effect on the friction force. The critical interference that marks the transition from elastic to elastic- plastic and plastic deformation is found out and its connection with plasticity index. A finite element program for determination contact analysis of the assembled details and due to details of deformation that arose a normal and tangencial stress is used.

scholarly journals The Influence of Genetics in Myopia Control: A Pilot Study

2021 ◽  
Vol 10 (4) ◽  
pp. 808
Author(s):  
Cristina Alvarez-Peregrina ◽  
Miguel Ángel Sánchez-Tena ◽  
Clara Martinez-Perez ◽  
Catalina Santiago-Dorrego ◽  
Thomas Yvert ◽  
...  
Keyword(s):  
Pilot Study ◽  
Treatment Response ◽  
Axial Length ◽  
Contact Lenses ◽  
Control Method ◽  
Saliva Sample ◽  
Experimental Studies ◽  
Strong Linkage Disequilibrium ◽  
Student’S T ◽  
Myopia Control

Background: Many epidemiological and experimental studies have established that myopia is caused by a complex interaction between common genetic and environmental factors. The objective of this study was to describe and compare the allelic and genotypic frequencies of the rs524952 (GJD2), rs8000973 (ZIC2), rs1881492 (CHRNG), rs1656404 (PRSS56), rs235770 (BMP2), and rs7744813 (KCNQ5) SNPs (single-nucleotide polymorphism) between responder and nonresponder patients who had undergone a two-year treatment with lenses for myopia control. Method: Twenty-eight participants from the MiSight Assessment Study Spain (MASS), who had received treatment for myopia control for two years with MiSight contact lenses, were examined. The criteria for better/worse treatment response was the change in the axial length (< / ≥ 0.22 mm two years after the treatment). The clinical procedure consisted of the extraction of a saliva sample, and the participants also underwent an optometric examination. Genetic data were analyzed using SNPStats software (Catalan Institute of Oncology, Barcelona, Spain), and statistical analysis was performed using SPSS v.25 (SPSS Inc., Chicago, IL, USA). Demographic variables were analyzed using the Student’s t-test. Results: The T allele, the one with the lowest frequency, of the “rs235770” SNP was associated with a better treatment response [AL/CR (axial length/corneal radius): OR = 3.37; CI = 1.079–10.886; SE (spherical equivalent): OR = 1.26; CI: = 0.519–57.169; p = 0.019). By performing haplotype analysis, significant differences were found between the rs235770…rs1881492 and rs235770–rs1656404 polymorphisms. The latter presented a strong linkage disequilibrium with each other (r2 ≥ 0.54). Conclusion: The result of lens therapies for myopia control could vary depending on genetic variants. Studies with a larger sample are needed to confirm the results presented in this pilot study.

scholarly journals Study on Friction in Automotive Shock Absorbers Part 1: Friction Simulation Using a Dynamic Friction Model in the Contact Zone of an FEM Model

Vehicles ◽  
2021 ◽  
Vol 3 (2) ◽  
pp. 212-232
Author(s):  
Ludwig Herzog ◽  
Klaus Augsburg
Keyword(s):  
Ride Comfort ◽  
Viscous Friction ◽  
Simulation Method ◽  
Friction Model ◽  
Model Parameters ◽  
Dynamic Friction ◽  
Friction Modeling ◽  
Shock Absorbers ◽  
Operation Conditions ◽  
Wide Range

The important change in the transition from partial to high automation is that a vehicle can drive autonomously, without active human involvement. This fact increases the current requirements regarding ride comfort and dictates new challenges for automotive shock absorbers. There exist two common types of automotive shock absorber with two friction types: The intended viscous friction dissipates the chassis vibrations, while the unwanted solid body friction is generated by the rubbing of the damper’s seals and guides during actuation. The latter so-called static friction impairs ride comfort and demands appropriate friction modeling for the control of adaptive or active suspension systems. In this article, a simulation approach is introduced to model damper friction based on the most friction-relevant parameters. Since damper friction is highly dependent on geometry, which can vary widely, three-dimensional (3D) structural FEM is used to determine the deformations of the damper parts resulting from mounting and varying operation conditions. In the respective contact zones, a dynamic friction model is applied and parameterized based on the single friction point measurements. Subsequent to the parameterization of the overall friction model with geometry data, operation conditions, material properties and friction model parameters, single friction point simulations are performed, analyzed and validated against single friction point measurements. It is shown that this simulation method allows for friction prediction with high accuracy. Consequently, its application enables a wide range of parameters relevant to damper friction to be investigated with significantly increased development efficiency.

scholarly journals Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 35
Author(s):  
Yu Cao ◽  
Zhongzheng Fu ◽  
Mengshi Zhang ◽  
Jian Huang
Keyword(s):  
Control Method ◽  
Experimental Studies ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Pneumatic Muscle ◽  
System States ◽  
The Stability ◽  
Twisting Control ◽  
Muscle Actuators

This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) for simultaneously estimating the system states and disturbances by using measurable variables. Integrated with the ESO, a super twisting controller (STC) is design based on estimated states to realize the high-precision tracking. According to the Lyapunov theorem, the stability of the closed-loop system is ensured. Simulation and experimental studies are conducted, and the results show the convergence of the ESO and the effectiveness of the proposed method.

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