An Observer-Based Friction Compensation Technique for Positioning Control of a Pneumatic Servo System

概要

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This paper presents a technique to cope with undesirable frictional effects in positioning control of a pneumatic actuator. This technique is based on an observer for estimating the dynamically varying friction force on-line. The observer is derived from an available nonlinear observer for Coulomb friction by modifying it to fit the pneumatic actuator and to enhance its estimation ability. Our pneumatic servo system for positioning consists of an inner pressure control loop, an outer position control loop, the friction observer, and a velocity observer. In this system, the friction force is compensated by adjusting a desired pressure value sent from the outer loop to the inner loop according to the friction observer output. Experimental comparisons with a conventional control system using friction compensation by means of accelerometer information feedback were carried out and show that our system works with almost the same high positioning accuracy as the conventional system, despite having neither an accelerometer nor a velocity sensor, and is more advantageous from the perspective of cost performance.