Adaptive compensator of single state elastoplastic friction model

A nonlinear friction is an unavoidable phenomenon frequently experienced in mechanical system between two contact surfaces. An adaptive compensator is designed to achieve tracking of a desired velocity trajectory in the presence of friction force described by a single state elastoplastic friction mo...

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Bibliographic Details
Published inThe journal of engineering research (Print) Vol. 8; no. 2; pp. 66 - 73
Main Authors Abu Suud, Ahmad Ali, Abdu, J., Zaiir, Riyad
Format Journal Article
LanguageEnglish
Published Muscat, Oman Sultan Qaboos University, College of Engineering 01.12.2011
Sultan Qaboos University
Subjects
adaptive compensator, elastoplastic friction model, lyapunov second method
Control
Electric power systems
Lyapunov functions
أنظمة الطاقة الكهربائية
الرقابة
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Summary:A nonlinear friction is an unavoidable phenomenon frequently experienced in mechanical system between two contact surfaces. An adaptive compensator is designed to achieve tracking of a desired velocity trajectory in the presence of friction force described by a single state elastoplastic friction model. The adaptive compensator includes an adaptive observer and a computed force controller. The closed loop system is shown to be stable using Lyapunov second method. Simulation results show the effectiveness of the proposed compensator. ظاهرة الاحتكاك غير الخطي و التي لا يمكن تجنبها تظهر دائما في الأنظمة الميكانيكية بين الأسطح المتلامسة. و لقد تم تصميم معوض متوائم للاحتكاك الممثل بنموذج مرن – لدن وحيد الحالة يضمن متابعة أي سرعة مرغوبة بوجود قوى الاحتكاك. و قد تم إثبات استقرار النظام الكلي باستخدام دالة ليابونوف. كما وضحت برامج المحاكاة مدى فاعلية النظام المقترح.
ISSN:1726-6009
1726-6742
DOI:10.24200/tjer.vol8iss2pp66-73