Abstract
The position tracking control problem of the electric cylinder is addressed under the influence of nonlinear factors such as friction and disturbance in this paper. First, the dynamic model of electric cylinder is established based on LuGre friction model. Secondly, a nonlinear observer is designed to compensate the friction of servo system. Finally, an adaptive robust controller based on discontinuous projection mapping is proposed to deal with the parameter uncertainty and guarantee the robust performance. The co-simulation results based on Matlab and Recurdyn show that the proposed controller has high control precision and strong robustness.
Highlights
With the rapid development of electromechanical coupling technology, the servo system based on electric cylinder has been widely used
With the increase of control precision requirement of servo system, it is very important to choose the appropriate control strategy to solve the problem of nonlinear friction [2]
The LuGre model is closer to the real friction phenomenon, so the friction nonlinearity of electric cylinder is modeled based on LuGre friction model
Summary
With the rapid development of electromechanical coupling technology, the servo system based on electric cylinder has been widely used. There are two methods to compensate the nonlinear friction. The other is to eliminate the impact of friction link on the system by feedforward compensation based on friction model [4]. A more accurate algorithm is difficult to be applied to engineering practice, and the increase of disturbance will lead to the increase of feedback gain, resulting in the decrease of control performance. The second method describes and predicts the friction phenomenon by establishing an accurate mathematical model, which can accurately compensate the friction nonlinearity and is easy to be applied in engineering practice. ADAPTIVE ROBUST CONTROL FOR ELECTRIC CYLINDER WITH FRICTION COMPENSATION BY LUGRE MODEL.
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