Abstract
This paper deals with experimental investigation and modeling of dynamic friction behaviors in the sliding regime of pneumatic cylinders. Using three pneumatic cylinders, friction characteristics are investigated and modeled under various conditions of velocity variation and pressures. It is shown that a hysteretic behavior can be seen at low velocities in the friction force-velocity relation and the friction force varies nearly linearly with the velocity at high velocities. The hysteretic loop is expanded to higher velocities when the frequency of the velocity variation is increased, and its size is increased with increasing driving pressure and is decreased with increasing resistance pressure. It is shown that such behaviors can be relatively accurately simulated by the new modified LuGre model in which a few static parameters are varied with the frequency of velocity variation.
Highlights
Friction is always present in a pneumatic cylinder system and makes the dynamics of the system rather complex and precise position/velocity control is usually difficult
The hysteretic loop is expanded to higher velocities when the frequency of the velocity variation is increased, and its size is increased with increasing driving pressure and is decreased with increasing resistance pressure
Belforte et al [2] proposed an experimental test setup in which the velocity of the test pneumatic cylinder was controlled by a driving hydraulic cylinder and the pressures of the chambers were controlled by proportional pressure control valves in order to measure the friction force under a broad range of operating conditions of velocity and pressures
Summary
Friction is always present in a pneumatic cylinder system and makes the dynamics of the system rather complex and precise position/velocity control is usually difficult. Tran et al [13] have shown that the modified LuGre model is valid only in the negative resistance regime and cannot simulate the hysteretic behaviors observed in hydraulic cylinders in the fluid lubrication regime. They have revised the modified LuGre model by replacing the usual fluid friction term with a first-order lead dynamics and have shown the usefulness of the new modified LuGre model in the entire sliding regime.
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