Friction phenomena and control of pneumatic drives
Pneumatic systems are on the one hand widely used in industry for automation or handling purposes. This is due to some major advantages of pneumatics, as e. g. low costs, robustness or ease of installation. On the other hand they are rarely used for motion control or complex positioning tasks. The reason for this is that pneumatic systems feature a weak positioning accuracy and are hard to control. This in the end can be traced back to friction, which is a major issue in pneumatics. This paper firstly presents new findings concerning the frictional behaviour of pneumatic drives. Friction force does not only depend on speed and pressure difference, but also on other parameters which are not usually measured. This leads to the comprehension that it is not feasible to incorporate a complex friction model into a controller, but that it is more purposive to set up a control concept which can cope with system uncertainties. Secondly, control concepts which are appropriate for pneumatic systems, namely state controller, sliding mode controller and feedback linearization controller, are being introduced and their performance is being compared.
Pneumatics Motion control Friction Feedback linearization Sliding mode control State control
Meuser, M. Reinertz, O. Murrenhoff, H.
RWTH Aachen University, Institute for Fluid Power Drives and Controls, Aachen, Germany
国际会议
杭州
英文
584-588
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）