Friction Estimation and Compensation of Pneumatic Force Servo System
Friction exists in every mechanical system, and exerts bad influences on its operation performance, which will cause cylinder crawling phenomenon when it runs under low speed. In this paper, the analysis of the cylinder crawling phenomenon is proposed, as friction is complicated and impossible to measure its exact value, the estimation of friction by using extended kalman filter (EKF) is introduced, then the estimated friction is added to the control input for friction compensation. The studies show that the pnuematic force servo system with friction estimation and compensation by using EKF has better performance than the system without friction compensation, for instance it has better dynamic and statistic characteristics, higher tracking accuracy, higher robustness, and the response time is also more quickly.
pneumatic force servo system extended kalman filter observer friction estimation friction compensation
Zhao ting Sheng chaoqiang Liu ke
Department of Automation, Chongqing university,Chongqing 400044, China
国际会议
重庆
英文
1410-1413
2009-12-25（万方平台首次上网日期，不代表论文的发表时间）