Friction hysteresis compensation using phase correction of periodic trajectories

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

This paper presents a heuristic, signal-based approach to compensate time delay-like effects caused by friction hysteresis in a novel kind of valve actuator. It works by exploiting a-priori knowledge about (and the periodicity of) the desired trajectory, under the premise that an existing feedforward control already tracks the desired trajectory, apart from the mentioned time delay effect. However, the emphasis of this contribution is put on experimental results obtained with a test stand in order to substantiate the effectiveness of the simplistic compensating technique that was already described in earlier works. The hysteresis loop is modelled and simulated to match the measurements, though no model is needed by the compensation algorithm.

OriginalspracheEnglisch
Titel22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017 : 28-31 Aug. 2017
Anzahl der Seiten6
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum19.09.2017
Seiten325-330
ISBN (Print)978-1-5090-6766-4
ISBN (elektronisch)978-1-5386-2402-9, 978-1-5386-2403-6
DOIs
PublikationsstatusErschienen - 19.09.2017
VeranstaltungInternational Conference on Methods and Models in Automation and Robotics 2017 - Międzyzdroje, Polen
Dauer: 28.08.201731.08.2017
Konferenznummer: 22
http://mmar.edu.pl/index.php/archive/mmar-2017/
http://mmar.edu.pl/index.php/archive/mmar-2017/

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