Research Article
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Year 2020, Volume: 24 Issue: 6, 1272 - 1283, 01.12.2020
https://doi.org/10.16984/saufenbilder.652782

Abstract

Supporting Institution

Çukurova Üniversitesi-ÖYP birimi

References

  • E. Richer and Y. Hurmuzlu, “A High Performance Pneumatic Force Actuator System: Part I—Nonlinear Mathematical Model,” Journal of Dynamic Systems, Measurement, and Control, vol. 122, no. 3, pp. 416–425, 1999.
  • A.Harnoy and B. Friedland, “Modelling and Measuring Friction Effects,” IEEE Control Systems,pp. 82-91, 2008.
  • H. Olsson, K. Åström, C. C. D. Wit, M. Gäfvert, and P. Lischinsky, “Friction Models and Friction Compensation,” European Journal of Control, vol. 4, no. 3, pp. 176–195, 1998.
  • Y. F. Liu, J. Li, Z. M. Zhang, X. H. Hu, and W. J. Zhang, “Experimental Comparison of Five Friction Models on the Same Test-Bed of the Micro Stick-Slip Motion System,” Mechanical Sciences, vol. 6, no. 1, pp. 15–28,. 2015.
  • C. C. D. Wit, H. Olsson, K. Astrom, and P. Lischinsky, “A new model for control of systems with friction,” IEEE Transactions on Automatic Control, vol. 40, no. 3, pp. 419–425, 1995.
  • G. Belforte, G. Mattiazzo, S. Mauro, and L. R. Tokashiki, “Measurement of friction force in pneumatic cylinders,” Tribotest, vol. 10, no. 1, pp. 33–48, 2003.
  • P.L.Andrighetto, A.C.Valdiero and L.Carlotto, “Study of the Friction Behavior in Industrial Pneumatic Actuators,” ABCM Symposium Series in Mechatronics, vol. 2, pp. 369-376, 2006.
  • H.Kosari, S.A.A.Moosavian, “Friction Compensation in a Pneumatic Actuator Using Recursive Least Square Algorithm,” 5th Australian Control Conference (AUCC), Austalia, pp. 81-86, 2015.
  • G. Belforte and T. Raparelli, “Friction Analysis of Pneumatic Semi-Rotary Actuators,” Tribology Transactions, vol. 40, no. 1, pp. 57–62, 1997.
  • M. S. Schlüter and E. A. Perondi, “Mathematical Modeling of Pneumatic Semi-Rotary Actuator with Friction,” Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol. 40, no. 11, 2018.
  • M. S. Schlüter and E. A. Perondi, “Mathematical Modelling with Friction of a SCARA Robot Driven by Pneumatic Semi-Rotary Atuators,” IEEE Latin America Transactions, vol.18, no.6 , pp.1066-1076, 2020.
  • X. Luo, J.Wang, L.Shpanian, N.Jia, G.Liu, A.S.I. Zinober, “Development of a Mathematical Model for Vane Type Air Motors with Arbitrary N Vanes,” Proceedings of the World Congress on Engineering (WCE 2008), London, 2008.
  • M. Sorli, L. Gastaldi, E. Codina, and S. D. L. Heras, “Dynamic Analysis of Pneumatic Actuators,” Simulation Practice and Theory, vol. 7, no. 5-6, pp. 589–602, 1999.
  • C.-C. Lan and C.-W. Cheng, “Modeling and design of air vane motors for minimal torque ripples,” 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2010.
  • Y. Zhang, K. Li, S.Wei and G. Wang, “Pneumatic rotary actuator position servo system based on ADE-PD control,” Applied Sciences, vol. 8, no. 406, 2018.

An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators

Year 2020, Volume: 24 Issue: 6, 1272 - 1283, 01.12.2020
https://doi.org/10.16984/saufenbilder.652782

Abstract

In this paper, an experimental method is proposed for estimation of friction torque in vane type pneumatic semi rotary actuators. The friction is modelled in the form of fully combined Stribeck model since this combined friction model provides good solutions for precise control applications. The study aims estimating static friction torque, Coulomb friction torque, Stribeck speed and viscous friction&damping coefficient which is included in fully combined Stribeck model for both counterclockwise and clockwise directions of the rotary actuator since these unknown parameters show differences when direction of motion is altered. For that purpose, an experimental setup is designed which includes pressure sensors for measuring the chamber pressures of actuator, analogue potentiometer for reading angular position as well as speed of vane and Arduino microcontroller card for data acquisition. A proper MATLAB Simulink block diagram is prepared for the simultaneous estimation of processed data from experimental data. Nonlinear curve fitting operation is applied and the unknown friction parameters are estimated on the fitted curve easily.

References

  • E. Richer and Y. Hurmuzlu, “A High Performance Pneumatic Force Actuator System: Part I—Nonlinear Mathematical Model,” Journal of Dynamic Systems, Measurement, and Control, vol. 122, no. 3, pp. 416–425, 1999.
  • A.Harnoy and B. Friedland, “Modelling and Measuring Friction Effects,” IEEE Control Systems,pp. 82-91, 2008.
  • H. Olsson, K. Åström, C. C. D. Wit, M. Gäfvert, and P. Lischinsky, “Friction Models and Friction Compensation,” European Journal of Control, vol. 4, no. 3, pp. 176–195, 1998.
  • Y. F. Liu, J. Li, Z. M. Zhang, X. H. Hu, and W. J. Zhang, “Experimental Comparison of Five Friction Models on the Same Test-Bed of the Micro Stick-Slip Motion System,” Mechanical Sciences, vol. 6, no. 1, pp. 15–28,. 2015.
  • C. C. D. Wit, H. Olsson, K. Astrom, and P. Lischinsky, “A new model for control of systems with friction,” IEEE Transactions on Automatic Control, vol. 40, no. 3, pp. 419–425, 1995.
  • G. Belforte, G. Mattiazzo, S. Mauro, and L. R. Tokashiki, “Measurement of friction force in pneumatic cylinders,” Tribotest, vol. 10, no. 1, pp. 33–48, 2003.
  • P.L.Andrighetto, A.C.Valdiero and L.Carlotto, “Study of the Friction Behavior in Industrial Pneumatic Actuators,” ABCM Symposium Series in Mechatronics, vol. 2, pp. 369-376, 2006.
  • H.Kosari, S.A.A.Moosavian, “Friction Compensation in a Pneumatic Actuator Using Recursive Least Square Algorithm,” 5th Australian Control Conference (AUCC), Austalia, pp. 81-86, 2015.
  • G. Belforte and T. Raparelli, “Friction Analysis of Pneumatic Semi-Rotary Actuators,” Tribology Transactions, vol. 40, no. 1, pp. 57–62, 1997.
  • M. S. Schlüter and E. A. Perondi, “Mathematical Modeling of Pneumatic Semi-Rotary Actuator with Friction,” Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol. 40, no. 11, 2018.
  • M. S. Schlüter and E. A. Perondi, “Mathematical Modelling with Friction of a SCARA Robot Driven by Pneumatic Semi-Rotary Atuators,” IEEE Latin America Transactions, vol.18, no.6 , pp.1066-1076, 2020.
  • X. Luo, J.Wang, L.Shpanian, N.Jia, G.Liu, A.S.I. Zinober, “Development of a Mathematical Model for Vane Type Air Motors with Arbitrary N Vanes,” Proceedings of the World Congress on Engineering (WCE 2008), London, 2008.
  • M. Sorli, L. Gastaldi, E. Codina, and S. D. L. Heras, “Dynamic Analysis of Pneumatic Actuators,” Simulation Practice and Theory, vol. 7, no. 5-6, pp. 589–602, 1999.
  • C.-C. Lan and C.-W. Cheng, “Modeling and design of air vane motors for minimal torque ripples,” 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2010.
  • Y. Zhang, K. Li, S.Wei and G. Wang, “Pneumatic rotary actuator position servo system based on ADE-PD control,” Applied Sciences, vol. 8, no. 406, 2018.
There are 15 citations in total.

Details

Primary Language English
Subjects Mechanical Engineering
Journal Section Research Articles
Authors

Mustafa Dağdelen 0000-0002-1448-104X

Mehmet Sarıgeçili 0000-0002-9969-2005

Publication Date December 1, 2020
Submission Date December 2, 2019
Acceptance Date September 18, 2020
Published in Issue Year 2020 Volume: 24 Issue: 6

Cite

APA Dağdelen, M., & Sarıgeçili, M. (2020). An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators. Sakarya University Journal of Science, 24(6), 1272-1283. https://doi.org/10.16984/saufenbilder.652782
AMA Dağdelen M, Sarıgeçili M. An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators. SAUJS. December 2020;24(6):1272-1283. doi:10.16984/saufenbilder.652782
Chicago Dağdelen, Mustafa, and Mehmet Sarıgeçili. “An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators”. Sakarya University Journal of Science 24, no. 6 (December 2020): 1272-83. https://doi.org/10.16984/saufenbilder.652782.
EndNote Dağdelen M, Sarıgeçili M (December 1, 2020) An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators. Sakarya University Journal of Science 24 6 1272–1283.
IEEE M. Dağdelen and M. Sarıgeçili, “An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators”, SAUJS, vol. 24, no. 6, pp. 1272–1283, 2020, doi: 10.16984/saufenbilder.652782.
ISNAD Dağdelen, Mustafa - Sarıgeçili, Mehmet. “An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators”. Sakarya University Journal of Science 24/6 (December 2020), 1272-1283. https://doi.org/10.16984/saufenbilder.652782.
JAMA Dağdelen M, Sarıgeçili M. An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators. SAUJS. 2020;24:1272–1283.
MLA Dağdelen, Mustafa and Mehmet Sarıgeçili. “An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators”. Sakarya University Journal of Science, vol. 24, no. 6, 2020, pp. 1272-83, doi:10.16984/saufenbilder.652782.
Vancouver Dağdelen M, Sarıgeçili M. An Experimental Method for Estimating Combined Friction Torque in Vane Type Pneumatic Semi Rotary Actuators. SAUJS. 2020;24(6):1272-83.