Control of a Servopneumatic Drive with Friction Compensation (original) (raw)

Abstract

In this paper the problem of pneumatic positioning system in presence of friction is addressed. The standard controllers deficiencies when applied to a servopneumatic drive were verified. The main detected problems consist of gains tuning difficulties, robustness lack to payload variations and great sensibility to the friction effects. To overcome the problems of the robustness lack and gains tuning difficulties it was designed and implemented a variable structure controller. Besides, to deal with the friction effects, a compensation scheme was implemented based on a nonlinear friction force states observer. The given results were considered promising, with precision of ±0,2 mm for positioning problems and of ±2,5 mm for path tracking tasks.

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