Friction hysteresis compensation using phase correction of periodic trajectories
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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Friction hysteresis compensation using phase correction of periodic trajectories. / Haus, Benedikt; Mercorelli, Paolo; Werner, Nils.
22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017: 28-31 Aug. 2017. IEEE - Institute of Electrical and Electronics Engineers Inc., 2017. p. 325-330.Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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TY - CHAP
T1 - Friction hysteresis compensation using phase correction of periodic trajectories
AU - Haus, Benedikt
AU - Mercorelli, Paolo
AU - Werner, Nils
N1 - Conference code: 22
PY - 2017/9/19
Y1 - 2017/9/19
N2 - 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.
AB - 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.
KW - Engineering
KW - Valves
KW - Friction
KW - Actuators
KW - Hysterisis
KW - Engines
KW - Oils
UR - http://www.scopus.com/inward/record.url?scp=85035345366&partnerID=8YFLogxK
U2 - 10.1109/MMAR.2017.8046847
DO - 10.1109/MMAR.2017.8046847
M3 - Article in conference proceedings
AN - SCOPUS:85035345366
SN - 978-1-5090-6766-4
SP - 325
EP - 330
BT - 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - International Conference on Methods and Models in Automation and Robotics 2017
Y2 - 28 August 2017 through 31 August 2017
ER -